diff --git a/.gitattributes b/.gitattributes
index 0d3a8998aa80117938886c4d8362bf871885094a..17151dd93a19f4dc130aedf0ba80e88f88355c3a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4530,5 +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
+dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/spice_jar_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/material.mtl b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9054d66fb8bd230786de31415967355b0b263aeb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_030_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd spice_jar_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/material_0.png b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca22e29be8c827223843911e6c741efca48caec8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/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/75e51431688453608266514452060233/mesh/spice_jar_030.glb b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.mtl b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3626115a80f54db2f35e21c0cf6ea16ffd7c3210
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.mtl
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+newmtl spice_jar_030_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371ef0bf30a000f40d81b4f183322f6872906705
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030.obj
@@ -0,0 +1,107760 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030_collision.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb61a737567c92dc51fbf7b82041068e9fe00d77
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mesh/spice_jar_030_collision.obj
@@ -0,0 +1,8305 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2273cc5732a233300b443de3a0a9e9a6d7f73d31
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision.obj
@@ -0,0 +1,8305 @@
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_0.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3d4aff5e389c3e1d242b672a1c71c85f003d33
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_1.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068bbf026f6661547f04ab65163afce5c6f935c7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_2.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d87feebc4f15805d6ce25096c40609b38ac3cbc4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_3.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d78efc590abdd65011befeeebf4d06b6694471
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_4.obj b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f94bc27d5a561f2d9501e7968e238890b34e30f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/mesh/spice_jar_030_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/spice_jar_030.xml b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/spice_jar_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9786b78b1932c48b0776096383e7620352369c2b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/mjcf/spice_jar_030.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_030">
+      <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/75e51431688453608266514452060233/spice_jar_030.urdf b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/spice_jar_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5d44dc94e249ed60a9aa2d9b0fb00fc0403c652
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/spice_jar_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_030">
+   <link name="spice_jar_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>75e51431688453608266514452060233</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>black spice jar</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>matte black tapered spice jar with round cap and wide base</description>
+         <min_height>0.2142</min_height>
+         <max_height>0.2142</max_height>
+         <real_height>0.2142</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155430</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060826 -0.060491 -0.095447</min>
+            <max>0.060812 0.060509 0.118722</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/75e51431688453608266514452060233/spice_jar_030.usd b/dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/spice_jar_030.usd
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