diff --git a/.gitattributes b/.gitattributes
index 97682040f495c7d99caa47cf89e8bd869de7bcc2..ee851a9014bed642feb603412ce084faa899c747 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4557,3 +4557,5 @@ dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_ja
 dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/bottle_opener_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mesh/bottle_opener_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material.mtl b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ddb9a4598e80dd3cd53ae451e0433471a4b1dcd3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_016_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spice_jar_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material_0.png b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984a25c690e47570d1bd41016d9e86504c460f30
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233afaeadd7eb6434ddf7f90191b010d5505c699642d7622aa2953b1b1914b81
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.glb b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3573582cb163323773c43c07ff482215f8732835
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13734648
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.mtl b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f2fe9fef5203eba27a315aa41635903efe20b73
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_016_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
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809780c347f7c27817c4ac105c6912af74f598d0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.obj
@@ -0,0 +1,109182 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016_collision.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9510fd208ffef0780f833118a1ca7a42f8bac841
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984a25c690e47570d1bd41016d9e86504c460f30
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+version https://git-lfs.github.com/spec/v1
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+size 10373588
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233afaeadd7eb6434ddf7f90191b010d5505c699642d7622aa2953b1b1914b81
+size 10373588
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be117fa4d66a075357ef6acb79c0433c62a6ba16
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+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e3c80311a1f58a9d8af299fe4e3137efb2a7c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision.obj
@@ -0,0 +1,5363 @@
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_0.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706030612e7d360aabeae0500611fcb26849f46a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_1.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c2aadff95f4018c8ac4b2b3b0905a923e3b7e0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_2.obj b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009d7df35b3b4a45521b1b87b9e76b31a49f40e6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/mesh/spice_jar_016_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/spice_jar_016.xml b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/spice_jar_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..06be4878781b10aa71330e71668afc70ceb4daa0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mjcf/spice_jar_016.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.urdf b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b54025ee89eb785c189ef0d43138f343ad5c5ad
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_016">
+   <link name="spice_jar_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>97c069050fd35a13aed96b8f21259d78</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>metal spice jar</name>
+         <color>silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>tall silver spice jar with perforated shaker cap</description>
+         <min_height>0.1130</min_height>
+         <max_height>0.1130</max_height>
+         <real_height>0.1130</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190700</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020952 -0.020686 -0.051938</min>
+            <max>0.020581 0.020700 0.061098</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/97c069050fd35a13aed96b8f21259d78/spice_jar_016.usd b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.usd
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@@ -0,0 +1,3 @@
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+size 4920983
diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/textures/material_0.png b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/video.mp4 b/dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/video.mp4
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