diff --git a/.gitattributes b/.gitattributes
index 191de5b21bf6991c2a95685881eb2fda4c2bbdb8..a12c2290702172efae58d8ea32b851e39786d3e0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4526,3 +4526,4 @@ dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mesh/bottle_o
 dataset/kitchen_supplies/utensils/2b6491c08ae85a91889e80577b3643a5/mesh/bottle_opener_010.obj filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.urdf b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b83ad0696f4b72c57bf51c58d8df70142861195
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="salt_shaker">
+   <link name="salt_shaker">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/salt_shaker.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/salt_shaker_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.125000</scale>
+         <version>v0.1.5</version>
+         <category>salt shaker</category>
+         <description>glass salt shaker with metallic lid and cylindrical body</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251009071741</generate_time>
+         <gs_model>mesh/salt_shaker_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.165144205093384</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/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.usd b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5bdd3a054fac5b60788f1ccb8d9db01d3cde24d7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e52b0b707367cd3bd590b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72145fa20f493fe1988c67dc88a57b43cdb6a1e1f0bd1dc80b184775aea4b5df
+size 873374
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/material.mtl b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/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/6f7beae1fb2e52b0b707367cd3bd590b/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153a0d7bf1491b7007ae1a409f35bbc244e4e6e359b1967d105718ced2184e78
+size 1859706
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.glb b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f4990036d19f90f554845c724ceaef5ddd34a58b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d19edc7250837c6e4b3885e626aa20cce5253358c3bdcb388a7ea44db071d1fa
+size 2449388
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3186f0715eea5c36ec3f085273cae932f9765002
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker.obj
@@ -0,0 +1,53914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker_collision.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663bebd3633267e8b987444727f37da09ede4971
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker_collision.obj
@@ -0,0 +1,19654 @@
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diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker_gs.ply b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mesh/salt_shaker_gs.ply
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diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/6f7beae1fb2e52b0b707367cd3bd590b.xml b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/6f7beae1fb2e52b0b707367cd3bd590b.xml
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/6f7beae1fb2e52b0b707367cd3bd590b.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="salt_shaker">
+  <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" />
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+    <mesh name="collision_mesh_0_1" file="mesh/salt_shaker_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="salt_shaker">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:153a0d7bf1491b7007ae1a409f35bbc244e4e6e359b1967d105718ced2184e78
+size 1859706
diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f7bd7b934176d687a44313c2ceb063240b5b51
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+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker.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/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f734e68838bc5f0e3e2e14e0a1294a1848ba8e97
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision.obj
@@ -0,0 +1,19654 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_0.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f440bdf034a57742ac61389c5114853dfac122
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_0.obj
@@ -0,0 +1,8008 @@
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diff --git a/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_1.obj b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d382834a8168c366774517d2d9fac851629f28
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/mjcf/mesh/salt_shaker_collision_1.obj
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