diff --git a/.gitattributes b/.gitattributes
index c4039af450887925bd8d474c11b07810dcf50ddf..a8cd7a37ff0954f09682e0d93432016e1a758638 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,6 +4530,5 @@ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/6f7beae1fb2e5
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/6cb06041371650eb93688f2862e66490.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/74075ca6ed8d554ababc3d323d3f2a0b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/mesh/utensil_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/spice_jar_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/material.mtl b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4700cd2afc2f3edffb8f200ccb93bdfb8d31538
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_015_geometry_Looks_material_0
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+map_Kd spice_jar_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04754f387ea8de2c3d423e2657eeecd7034979c0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/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/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.glb b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3f50e6081e4dc58d29409c7c1c358c1f1488eda3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13495824
diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.mtl b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..030258127da8c9f6694ea996cf8f498241b7a43d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.mtl
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+newmtl spice_jar_015_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29dd9caa1a73785b73259ddef4dcebe6f9c89ba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015.obj
@@ -0,0 +1,112476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015_collision.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2f2a19d49d22b1e77ea38d634653c4c9a064bd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mesh/spice_jar_015_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e8dcc18b72282034039955ee4329a66aed53f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision.obj
@@ -0,0 +1,5304 @@
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_0.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e1489eba016a8b269f462a1a7403ed34c69c2d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_0.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_1.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e01491fdaf8fdc8a94399d746f22816a9546d00d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_2.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1abb0b36eceb5d491558767ca929e81ca7eea68e
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_3.obj b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d9990e71159216353efd1b821fc5ebbddf9d17
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/mesh/spice_jar_015_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/spice_jar_015.xml b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/spice_jar_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9b072b1c3fcd6b05c0659b219e3adb7b909c0e8e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/mjcf/spice_jar_015.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_015">
+      <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/6824278dd3fd5c9aaa87f447b82352f2/spice_jar_015.urdf b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/spice_jar_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c64d18c00183c7fff54ccb7f003b3079f666aa4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/spice_jar_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_015">
+   <link name="spice_jar_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_015.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_015_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>6824278dd3fd5c9aaa87f447b82352f2</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>glass spice jar</name>
+         <color>transparent,black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>clear tapered spice jar with dark shaker cap</description>
+         <min_height>0.1126</min_height>
+         <max_height>0.1126</max_height>
+         <real_height>0.1126</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.45</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190642</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021147 -0.021990 -0.046770</min>
+            <max>0.022591 0.022046 0.065849</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</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>NO: {"summary":"Body and base are mostly correct, but decorative label is wrongly segmented as a functional part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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+size 4938009
diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/textures/material_0.png b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/video.mp4 b/dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/video.mp4
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 204281