diff --git a/.gitattributes b/.gitattributes
index bef6785bc55f03dd56bb40e7f15d56813cee4728..2760019ee2c19e446637925932b61fafac776760 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4553,3 +4553,5 @@ dataset/kitchen_supplies/utensils/8e439fca2e6d5b9ab7585bc7e9940b1d/mesh/bottle_o
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/96ae95cb40ce5d69811f8fce1cbcac9f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/96ae95cb40ce5d69811f8fce1cbcac9f/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/material.mtl b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9226b3f97a33eb96572d43491303bb83d705a1d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_008_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/material_0.png b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/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/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..23ab3b2874cd5a0ad208efff576fa9ea17cc7ca8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12477088
diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.mtl b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b83e4029b4391aba77eb02b6a1ea0cf3e08a27d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_008_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/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03bc03f1e7caa93c587a5c37612f17ae013fb639
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008.obj
@@ -0,0 +1,105926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008_collision.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46134666e02c9ae35b39a0941fc9a462bfafb8d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mesh/spice_jar_008_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1e71d8ed2ad9720061df0ce353d16a6423328bc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision.obj
@@ -0,0 +1,10278 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_0.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c28066ab89a67039c62dc50cdfe571d0614b33
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_1.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836aac215e8f1440ca0d3a730ee9f1bf0417e8d3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_2.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a2998d19c52c318362b9f534fd1b582077f07a2
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_3.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbdc62d79ffd7f7257bbbd0424f048f26b0fe1e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_4.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0d0c9077c8bca926e9dad29e6165ef5b351052
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_4.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_5.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33386216cd5e3379c8b24e302e1983aeb0bcab34
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_5.obj
@@ -0,0 +1,2080 @@
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_6.obj b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8a71987904f87fd26bf3de3d77d4cfbfc4c506
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/mesh/spice_jar_008_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/spice_jar_008.xml b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/spice_jar_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..81ecb82eda93ac3dbd4c0d9e7e5c221937ac91cd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/mjcf/spice_jar_008.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_008">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.urdf b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d588257dfbbcae0f13231bf389a1a0c1e975dd27
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_008">
+   <link name="spice_jar_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_008.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_008_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>922dfda9ca345dbe93f31ef7a93736a4</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>modern spice jar</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>sleek gray spice jar with ergonomic design and digital display</description>
+         <min_height>0.0965</min_height>
+         <max_height>0.0965</max_height>
+         <real_height>0.0965</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014620</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/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/spice_jar_008.usd
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 4868743
diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/textures/material_0.png b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/video.mp4 b/dataset/kitchen_supplies/utensils/922dfda9ca345dbe93f31ef7a93736a4/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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