diff --git a/.gitattributes b/.gitattributes
index c7aa2c89221dbb0ccd7794b41f272a280a366cf0..316f981f5a1e142e08dc96a80bd9714b39bc3681 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4527,9 +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/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
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/615595662bfd5a1b994538982f5d5d57.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.urdf b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1a129d41613952441c962e4850cf57b9abdd737
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.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 ergonomic design</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>20260120024050</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.48897647857666</ImageAestheticChecker>
+         <overall>NO</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/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2440617fc04ac3261fccca7ca98e4bdf4c80a0a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/5e3d4390a76c5405b5a499cbb64ea788.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5facdef5a1ef17f05ccda3c15ce60605b6d5993f7df12a63c1a4b4b548125061
+size 817612
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/material.mtl b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/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/5e3d4390a76c5405b5a499cbb64ea788/mesh/material_0.png b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa0ceadff320809aadd1703543f90feb06dc3c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6cb7abd79fc3834e60e3a51c1f837a6b3c6eb2c754caa70f97eeb8d1d62c996
+size 2071513
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..27d424f3d1f851d1aeccb4f9e11c9a9a062a27ef
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43eb2c051eaa33d958f70fb805cb78a702f75437bf14584d1c656a8f899a9c80
+size 2623476
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e81d3a00d6ec6bea2873d8fdeb7acc4aeec29d5a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder.obj
@@ -0,0 +1,50374 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a45e4f793777b4af36a6eca1b5707f04d47a69
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0c3a8043c986b9b76a51e930a42fba87c6742f07
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mesh/pepper_grinder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c71633f82c6b4a70abdaa9652c7c1c39b1e4584a3693de156824d6c27da981
+size 2534025
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/5e3d4390a76c5405b5a499cbb64ea788.xml b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/5e3d4390a76c5405b5a499cbb64ea788.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b14a5142bcdc43f001c8a3c9169941d0ce459997
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/5e3d4390a76c5405b5a499cbb64ea788.xml
@@ -0,0 +1,22 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa0ceadff320809aadd1703543f90feb06dc3c
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+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6cb7abd79fc3834e60e3a51c1f837a6b3c6eb2c754caa70f97eeb8d1d62c996
+size 2071513
diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb06d32adf35a7f208c7f4c3fd143e7a14406b72
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/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/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff09be1ae4a0ab1fed349d2cf0f09712e508ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,12804 @@
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a5567781a208dae06610f3bb1729b313b79521
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f539e9c4e398219859a22ac7cfe7f26199cc6d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83867b7c7d15ddca1632978928e1e3b797a360a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f265bbc2777d5a704768d2286c112b356b7bb7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/mjcf/mesh/pepper_grinder_collision_3.obj
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