diff --git a/.gitattributes b/.gitattributes
index 92d1ed14641bdc8cfd9f698a88ab91c7d882f99c..5dcb0ea71d63acb330e56d97acb480c734f4a10e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4469,3 +4469,5 @@ dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/mesh/wooden_t
 dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/0a4c4a7fb8a25a56a7381aac8a0f3436.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/material.mtl b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fc24e722a6d177428d4d501dcf2f398eb0e7fed
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_010_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/material_0.png b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/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/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.glb b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.glb
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.mtl b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2cb1a579f15630e7230d0163aec43d37b2fdd302
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.mtl
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+newmtl spice_jar_010_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c2963e029b2b2901e47c7e4e756cd2fd951910
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010.obj
@@ -0,0 +1,105256 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010_collision.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef488bcc1bbaf90956ae0b1dc08ddde12c1951d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010_collision.obj
@@ -0,0 +1,6817 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mesh/spice_jar_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..15880cc818027cf301b22cca9e262f33941d85cf
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010.obj
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f2d60d94f7c88d99075ade59a1b01d33dcef58
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision.obj
@@ -0,0 +1,6817 @@
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_0.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c406b91cf81c3e0a0ba774b6a1341f655309108b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_1.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cbd45a61f290434ee049f429141abe6bfa2eea4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_2.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394fb2ee492e3180bda7714e6c4595e71aa0ca72
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_3.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2020c05c4e2294e2b034f58a636721d5e9972396
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_3.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_4.obj b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0a30039925aab044e05c813aea8a6ed22a668e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/mesh/spice_jar_010_collision_4.obj
@@ -0,0 +1,1480 @@
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diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/spice_jar_010.xml b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/spice_jar_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6fa24335e73f32619a1d89b590be1f06c7fceae7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/mjcf/spice_jar_010.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.urdf b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a27b81d94f4266a30901c380ad84d8f28f4c76a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_010">
+   <link name="spice_jar_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>06f248d53c3058d788bf6ad57ffde1ea</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>modern spice jar</name>
+         <color>black,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>sleek, cylindrical spice jar with ergonomic design and dark finish</description>
+         <min_height>0.0973</min_height>
+         <max_height>0.0973</max_height>
+         <real_height>0.0973</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014707</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/spice_jar_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28eeb7e3535bde4bf02cd9ae4fda7184e682ece15b82423e280aa4664087d8f
+size 4807705
diff --git a/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/textures/material_0.png b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..15880cc818027cf301b22cca9e262f33941d85cf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/06f248d53c3058d788bf6ad57ffde1ea/textures/material_0.png
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