diff --git a/.gitattributes b/.gitattributes
index 03f3dac333389cf50f678d63b4557d8b7b04f5ab..0f5719d6dd59b16bcd00bdf619a1a64b5bb3002d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4515,3 +4515,6 @@ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/bottle_opener
 dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mesh/bottle_opener_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mesh/bottle_opener_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mjcf/mesh/bottle_opener_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.urdf b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f906f76b21dfb7a94ded8e9909d619ef90c74c1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.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>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>cylindrical marble pepper grinder with rounded top and decorative grooves</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120024931</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.360196590423584</ImageAestheticChecker>
+         <overall>NO</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/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..79c3ed0118c35cf6fee5b1881e446e86024f93a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700dadffe6c4f9d47c29c411adbcee8bc0a2afe1c76fcd0fa6fcfdefd72e95a6
+size 652899
diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/material.mtl b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/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/54f7bd178e1054749453ac47c71750a4/mesh/material_0.png b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dfd3a718a030da3b85b176b74d395ea65603268
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06bbc216671656e66cfd211d1f573cd39a362a1059102deae0d7755195f31f5
+size 1414876
diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5d9a059bbb3b1dc0fc45877d9f3adbbdd76fbb2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1daa0d43c7f69393095d694cf1a55c6bf6c8722f7825f035d3a791f95d85bc
+size 1863908
diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65658f0c17575ce03e866cc7a81d2d7bf52d8738
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.obj
@@ -0,0 +1,41126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..063d11e30ae465de818ef14555f9eca491063d70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,8750 @@
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/54f7bd178e1054749453ac47c71750a4.xml b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/54f7bd178e1054749453ac47c71750a4.xml
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+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/54f7bd178e1054749453ac47c71750a4.xml
@@ -0,0 +1,26 @@
+<?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" />
+    <mesh name="collision_mesh_0_5" file="mesh/pepper_grinder_collision_5.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" />
+      <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/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d866a298e3173726834309d638c7a4fb70167060
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder.obj
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b99d6a38bf9a5494105bb2a340664b3dfc332a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,8750 @@
+# https://github.com/mikedh/trimesh
+
+o pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586f7cb8902cc5a77fc6f5cca5564e0434177bad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d097ff00067195d87075498def6908f300fcb70
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e79c9344d46263c72004de064ea5b7f04a837a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_2.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c847b0047f7e59a41b65fd0104d832a9f7020fd5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_3.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d52b612e3c3e59bb6debc76e0970f95957c6796
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e9e4bf7d426911e0b44af3614d58a9ac31be9a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mjcf/mesh/pepper_grinder_collision_5.obj
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