diff --git a/.gitattributes b/.gitattributes
index a8cd7a37ff0954f09682e0d93432016e1a758638..76df913267101423698ae39232ba6f2efee4489e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4527,8 +4527,6 @@ dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mesh/bottle_o
 dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mjcf/mesh/bottle_opener_010.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/66f80fcce580512d823402dfb10f0ff8/66f80fcce580512d823402dfb10f0ff8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/spice_jar_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.urdf b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9baf48919958deb04a668be66ecad44843f0c700
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.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>0.40</mu1>
+            <mu2>0.30</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>cylindrical pepper grinder with ribbed body and rounded top</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>20260120022720</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.296492099761963</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f3738dc3875a90eda5a4f6e483e50b784b1830d6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/7430dc594d845ffeb0800ddf9353a7e4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7a92c6b5b0cf4e5e6cae74c418a3d15f4923680617862c2cb23d7ba8e323c1
+size 371626
diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/material.mtl b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/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/7430dc594d845ffeb0800ddf9353a7e4/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5f662b9b7b8bb3715ec8fc5d9c371f54685be94e6b191caed24b21b18eb6dd
+size 1094644
diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..55566cd321d0a791be9479dd5771ed56fa2c9105
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ad10e9a54f0e7b9df5b5da5ca2d5ddda49a3107b5ed6f21c95b800fa5b9335
+size 1349356
diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c315b12f2ba5d5de8e6a45a66ada3b5ceb355ae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder.obj
@@ -0,0 +1,23254 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08525abfc125f807015062906c36c3b48a6810c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,11450 @@
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+    <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" />
+    <mesh name="collision_mesh_0_5" file="mesh/pepper_grinder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5f662b9b7b8bb3715ec8fc5d9c371f54685be94e6b191caed24b21b18eb6dd
+size 1094644
diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e27aff89895c149c0aa0c18e4f897cdadbe1aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2972ada3994bc1536ece4d392d435269461c1925
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,11450 @@
+# https://github.com/mikedh/trimesh
+
+o pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a371a168628674bb6fc48c3050114843475541e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b3013f26dcbca9bf3249c9545e7be4bbf18561
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa02c5941fbd17e40c01b63f9e61ea14dbbf149
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041f2be942033b4746badcb4e52ef5d1d1565704
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a67de9bd5979ca29c42f107570b21840fb7a22
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_4.obj
@@ -0,0 +1,595 @@
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diff --git a/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd3ded60c6cf97fb562f3757fc578e80b83f9e46
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mjcf/mesh/pepper_grinder_collision_5.obj
@@ -0,0 +1,367 @@
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