diff --git a/.gitattributes b/.gitattributes
index 98301668d6dcbac0b548d1998a74168b5242948b..203245a1ea106e75e12d27661ee8ada431bb0129 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4547,3 +4547,5 @@ dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_g
 dataset/kitchen_supplies/utensils/8696e7954c3f57b697c129b16affd6aa/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8b205a5cc207507a8f2404c7ce3d06fa/mesh/spatula_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/8b205a5cc207507a8f2404c7ce3d06fa/spatula_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/material.mtl b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b26111ba65eb5a8563e11369c5f3cfe37f6636e8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/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/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.glb b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..da5e21281988b473ebe6facc9a855bdce6af264c
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+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.glb
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.mtl b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..15ab707a7995fb0d4118dddddd18a3e6d9aa0dba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.mtl
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+newmtl spice_jar_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a75529c89c330d2f6395da2e05cff8df301ec2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012_collision.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff28c466bd27e3ed2223419f27a8bd1351b7e43
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mesh/spice_jar_012_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/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/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee12b5f6d4761ad5589d2c81ba8d0808aacf3611
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision.obj
@@ -0,0 +1,15491 @@
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_0.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9631215fa739903615711accb67e45cd0db0f96
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_1.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b479d1c99e90e521195f542ab2c6aabf6b5657a
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_2.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62a985b5544c4155e9a2245628000a4083a9820b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_2.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_3.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3039051d1a5fbace1d891b5d8f94da80d668d495
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_4.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2dc519b0bebd3dbee9d31d9f1865454889ce04
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_5.obj b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08bd78cca9ed542e8b8d4dbe464b4bf39558903
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/mesh/spice_jar_012_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/spice_jar_012.xml b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/spice_jar_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0975317e670e04bf1a479c2686ec67fb391759a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/mjcf/spice_jar_012.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_012">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.urdf b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05d0dcde242facb3ff17fce488590df6e26f4297
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_012">
+   <link name="spice_jar_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>8040f44319725faa8e79ad9ff3a9b4ab</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>wooden spice jar</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light brown cylindrical spice jar with rounded lid</description>
+         <min_height>0.0996</min_height>
+         <max_height>0.0996</max_height>
+         <real_height>0.0996</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190532</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035662 -0.035618 -0.045470</min>
+            <max>0.035657 0.035598 0.054166</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.usd b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/spice_jar_012.usd
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+size 4922524
diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/textures/material_0.png b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/video.mp4 b/dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/video.mp4
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