diff --git a/.gitattributes b/.gitattributes
index 345449375af00ed4ffbf1dad4f0011729948fecc..0d3a8998aa80117938886c4d8362bf871885094a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,3 +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/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/material.mtl b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f59cb18effa956be77b173c7e15ef2a3c1b396a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_009_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/material_0.png b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/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/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.glb b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7ee410ac238163acd107901edc43422f19dc977
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.mtl b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..95e3b4455534da15fb698f0f304ddbbde5e91b93
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_009_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f96b96fd14b8538f8ff3f765f0ae5f84b74d01
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009.obj
@@ -0,0 +1,113700 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009_collision.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903ef80229091ab40316b089b43cacdaecc680ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009_collision.obj
@@ -0,0 +1,9905 @@
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mesh/spice_jar_009_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ac2f5fe3d8b5b6d9750321659f38592868b2d2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision.obj
@@ -0,0 +1,9905 @@
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_0.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b9f2c2dbe7116dd3128dd9b013a2469ddf2b2c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_1.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0bde8f9158ba6e884d3ff65f3ed34f0426cdf35
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_2.obj b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e461d971c59a6b9d65019842a8788cfd4c725c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/mesh/spice_jar_009_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/spice_jar_009.xml b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/spice_jar_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef4864a17d41121210fa2a90cc030111a10fba2e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/mjcf/spice_jar_009.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <body name="spice_jar_009">
+      <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/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.urdf b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05c341616cccbee64b0b100c3e9c2028e500d60a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_009">
+   <link name="spice_jar_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>6a08c4e2007e58b997f87af2c48c118b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>digital spice jar</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>sleek digital spice jar with display and curved design</description>
+         <min_height>0.1078</min_height>
+         <max_height>0.1078</max_height>
+         <real_height>0.1078</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014646</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>9</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/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.usd b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/spice_jar_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30e7540e293ccb76a7bf4e8d33c81db5505521019ba1e0f100d7eb719df49be
+size 4864398
diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/textures/material_0.png b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/textures/material_0.png
@@ -0,0 +1,3 @@
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+oid sha256:2fcb06dab24aa5bc1bb5c301c18f28908d6219ae95b0563fc8039dc437ae0076
+size 10171942
diff --git a/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/video.mp4 b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/6a08c4e2007e58b997f87af2c48c118b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271ed54b748fb734af6272cc7a204c230b67629783a57eec09afad0858973d83
+size 169191