diff --git a/.gitattributes b/.gitattributes
index 874dc9f4f35c1c8f64871bd4c1f5b2108d02d830..943d0818b1695f08f4aec55ceec8f9568d6bf559 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4610,8 +4610,6 @@ dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/mesh/pepper_g
 dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/e21c79e7f3145a248ac028d6767daea1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
-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/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.urdf b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2eed1e09f0b4697d1d1bd84080dbe8b1c1caac3d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.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="0.6000" />
+         <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>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>cylindrical pepper grinder with transparent body and dark top cap</description>
+         <min_height>0.18</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.215</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120022101</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.758823871612549</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/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.usd b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0387e8dfea3c4a24de492c8bc4a0d9ddb4ca5af9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/ef470cb5dead5d4889aa80ed76b12ae6.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a21a8c597d042a224777d676c1b21815105a092e0f33dac53b288bd94e56ac
+size 309483
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/material.mtl b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/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/ef470cb5dead5d4889aa80ed76b12ae6/mesh/material_0.png b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c1c86e16a46bbfdff4ab46706d206d99b84a346
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f965715e3726def580283454de378a82f5c5ca4575efd8433b175a352d6f94e
+size 1745311
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..39afb004d851f97a14b70492fc094c44c288ddc1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dafbb3d922dd97b27584610a7d02c9c216674e2fc5f8c5cf6a6096070a39904
+size 1953816
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43c13de93a2249e38522171e28960e69744ca9d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder.obj
@@ -0,0 +1,18978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ace344d0699344433cb53425be3b104f1bf89b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,11416 @@
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f482c7763394b53c07c40b4ac054c8e98268b4ad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mesh/pepper_grinder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3307f45c2c7e2e8e092c626c99277a405595febbbf08c60e5f274fe29ba26cf2
+size 3507977
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/ef470cb5dead5d4889aa80ed76b12ae6.xml b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/ef470cb5dead5d4889aa80ed76b12ae6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cb74d39e65ba98082b368a09b868f304b635bd82
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/ef470cb5dead5d4889aa80ed76b12ae6.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/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c1c86e16a46bbfdff4ab46706d206d99b84a346
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f965715e3726def580283454de378a82f5c5ca4575efd8433b175a352d6f94e
+size 1745311
diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb24b83544c61f831dfb219eec5d9f0c472777b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder.obj
@@ -0,0 +1,18978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa347793026caa7d57b2d41c66a7fc504e3d3413
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,11416 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697719e8f9d4d203a3e3782a289494acc62302ff
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_0.obj
@@ -0,0 +1,3361 @@
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d99ee0ed40f3cdf60b324de73debe0c0186e16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18e50e7b26e66402bc1879a77c7c56c8ac725f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_2.obj
@@ -0,0 +1,6388 @@
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d0468bad9d9f731570e04a843da8cd77509a40b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_3.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eff400e38119dc3e4446f6ae55045b53bd8f205
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/ef470cb5dead5d4889aa80ed76b12ae6/mjcf/mesh/pepper_grinder_collision_4.obj
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