diff --git a/.gitattributes b/.gitattributes
index 71fb2a89d4f48d9937babd580c2755ed749665e7..8394e119d06e7b69e4dac021d79f72cb70344410 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4518,6 +4518,9 @@ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/mjcf/mesh/bot
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/54f7bd178e1054749453ac47c71750a4.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/546db9c5fab2506dbb325b316655b46a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/546db9c5fab2506dbb325b316655b46a/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/bottle_opener_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bottle_opener_004.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material.mtl b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55c08757baac25c4275a035c61508f800112a64b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_027_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material_0.png b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/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/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..21c489dce5e9d12d6a34433d623d05c1a955ac0b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12948688
diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.mtl b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0133ffad0b28da6f6c887a60de174423af76837
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.mtl
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+newmtl spice_jar_027_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/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d46c3712458367a47a259a608fbb9da05bde219
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027.obj
@@ -0,0 +1,105316 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_027_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027_collision.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e789870bb307c0aeb1aca2e945756a4d8715f3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mesh/spice_jar_027_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9591196
diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbb271ffdaccbaeb96d4b92abf64c5a3f5068be1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision.obj
@@ -0,0 +1,31600 @@
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_0.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130e376404d3e69686e8b0f52d498cdcca524506
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_1.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aace1b418a50b32cf8952ef8754ccee516a4c495
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_2.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882610d167b929620efb3a7f92394f470043d779
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_3.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329d2b7693e2006508ef2fd31ead6767f9b2c7fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_3.obj
@@ -0,0 +1,934 @@
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_4.obj b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae355fbdb5723fd9589b5753a07b182096078506
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/mesh/spice_jar_027_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/spice_jar_027.xml b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/spice_jar_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d09902a51f5e976265a5551fd2ee88720ec96aa9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/mjcf/spice_jar_027.xml
@@ -0,0 +1,24 @@
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diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.urdf b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b37d3a8990a7d12b5594be72e5ddb78e87569a0e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.urdf
@@ -0,0 +1,66 @@
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+            <mesh filename="mesh/spice_jar_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>49e21daef9505912a92eceebff4840e0</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>ceramic spice jar</name>
+         <color>white,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>round white spice jar with wooden lid and small foot</description>
+         <min_height>0.0664</min_height>
+         <max_height>0.0664</max_height>
+         <real_height>0.0664</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155309</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040031 -0.039920 -0.031462</min>
+            <max>0.039947 0.040080 0.034949</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/49e21daef9505912a92eceebff4840e0/spice_jar_027.usd b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/spice_jar_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52f865acbc73f302cf6e2717e6e38e63663497230efe2e7b27a8dc5f488087e
+size 4929907
diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/textures/material_0.png b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/textures/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e9bef835e6f6521be282888a00c62d387026535d8007a120227d2da6c648ac
+size 9591196
diff --git a/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/video.mp4 b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b684adb765fe5a7e97e635a43ec2d51baeacb822
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b59d48e9f4b5de4c8a0d54f0f141f2cd254902bdc703f1159222a94796f7ff
+size 186296