diff --git a/.gitattributes b/.gitattributes
index 5edec6d9095b3cc9c88a327335da18a614ebe7d7..5454ed0c1681347c4357363bd98a9ae528197fc6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4485,5 +4485,5 @@ dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014
 dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/mesh/spatula_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/spatula_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/bottle_opener_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/2a7ccf9593fd5d3ab750db4efc8a19f9/mesh/bottle_opener_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material.mtl b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa4e4bd235f4b0d67552295c200d463b34ca99cf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_013_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material_0.png b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.glb b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c22a960597e2d4950afaaf98ec0dfb90b4daed6d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.mtl b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d9e48857b1215b2a0a30454b828f3d46a00e7c20
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.mtl
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+newmtl spice_jar_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf568c4e7f441648397c7b9d4b0f240cca25cdbd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013.obj
@@ -0,0 +1,103758 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013_collision.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0193878d24a513b244acc221bbe7dab3d3c7028b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mesh/spice_jar_013_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e25348d1cbcb91f8ba9795dd9b0dd9aa48abc9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision.obj
@@ -0,0 +1,17434 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_0.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4907171bf7733b4bcc987e9fe40764419692d7d4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_1.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f54f6e672f304552524e4d20dd0392f96d36ae7c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_10.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bda48fbdc19680f7c541e04b59b24baa463d614
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01493120 0.00836530 0.03592018
+v -0.00036982 0.00836530 0.03592018
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+
diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_11.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b476e3bd11ccd98137c683c641dbf69e192262bf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_12.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df97a8d869f5eb4fdcc47e8d81cf688b76a9142
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_12.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_13.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca214bfdbfc8a311866bdc83c6577aa66a5b568
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_13.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_14.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9d335835801216dab4630e694ebb32fa5679e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_14.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_15.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea715355cb8c71219bd7937884e17f6993fde3bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_15.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_16.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016b7cfe244e179b542205ba42e353e71ec17a14
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_17.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11c905c308c28db1ca058cbd6e6e8836101c3d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_17.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_18.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d8c2226642de09a6693e1fe8e84b15cb1c9a57
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_18.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_19.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ffe5775e90827b20677606484e2efccc90fe954
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_19.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_2.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03709a6f5c461a460b0ae00104193d8e7d023fec
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_3.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100d690987da2a1d2588beb6344f221753aeb75c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_4.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a183e0b401e83a25db56c48782b74ba1c07945b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_5.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9feaff37921f75c3634c569e50761026e96bda3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_6.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc3784882882741b860f73feb63c88dbf56f146
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_7.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14405f59f1f496702adad05e9945e08393d59853
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_8.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9619ef2a08509a04308a5353237e80afaea04a01
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_8.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_9.obj b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5da924f3747901d711baaed033402561ad9460
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/mesh/spice_jar_013_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/spice_jar_013.xml b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/spice_jar_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..660286af99165ccfc869b84e3bed681e532ed031
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/mjcf/spice_jar_013.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_013">
+  <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/spice_jar_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spice_jar_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spice_jar_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spice_jar_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spice_jar_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spice_jar_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spice_jar_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spice_jar_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spice_jar_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spice_jar_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/spice_jar_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/spice_jar_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/spice_jar_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/spice_jar_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_013">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" 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/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.urdf b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55d6cf85527bb2e5e06549776d98c4f11713c9af
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_013">
+   <link name="spice_jar_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_013.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>1.000000</scale>
+         <uuid>2696843a22c75d81a99d1d463b2ebc37</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>wooden spice jar</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light brown cylindrical spice jar with rounded lid and printed logo</description>
+         <min_height>0.0964</min_height>
+         <max_height>0.0964</max_height>
+         <real_height>0.0964</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190556</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038098 -0.038123 -0.046277</min>
+            <max>0.038061 0.037360 0.050080</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.usd b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/spice_jar_013.usd
@@ -0,0 +1,3 @@
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+size 4951986
diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/textures/material_0.png b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/video.mp4 b/dataset/kitchen_supplies/utensils/2696843a22c75d81a99d1d463b2ebc37/video.mp4
new file mode 100644
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+size 240949