diff --git a/.gitattributes b/.gitattributes
index e89325b5518e4c9484197dd191c76eccc43ed7a8..d598fd25a1b5589eb7caf81f79c45b2e34b1453d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4480,5 +4480,5 @@ dataset/kitchen_supplies/utensils/14bdeab2a8eb5f79944916d68841e438/mesh/utensil_
 dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/173e053134c55545b8da2d9a4399fc34.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material.mtl b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c3a40e096fc2d21bdbed7ba5ce934729f57a12e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_014_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material_0.png b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22343ad5acd7fbac7bc121cb49ed6f1367a20544
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38cdfcb1f2a6b461ee4469d56de75bc2e1a1955a8f1e64a8b7b26fa3852afd66
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..da9cf24275d93eab0c04670d707d8c0f14450868
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13875000
diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.mtl b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..272911daea1ac3792eaaaa3f9bdc42dcbea1cfb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_014_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c468f70874eabf4b48c6aef0769c5f7345dd29
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.obj
@@ -0,0 +1,113954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014_collision.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8f8924751201cd96e3538fb394dfcef20cfc94
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22343ad5acd7fbac7bc121cb49ed6f1367a20544
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22343ad5acd7fbac7bc121cb49ed6f1367a20544
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014.obj
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7970c647ffb6870c31b061eaccc1567deb9dcabd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision.obj
@@ -0,0 +1,5078 @@
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_0.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6218266dc93d2b9657c28485a558312b01458dc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_1.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647a0cf5743056ab321346a0875fc9f589ed8e09
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_2.obj b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aaface0afa9e9fc133830f7f1d4b7946d6bd4be
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/mesh/spice_jar_014_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/spice_jar_014.xml b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/spice_jar_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f9fbf84942d07da9be5cab2ee7c737cf2811cd47
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mjcf/spice_jar_014.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_014">
+      <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/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.urdf b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ba9e669447f9f86c06d6907a799af219cae7e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_014">
+   <link name="spice_jar_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_014.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_014_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>0f3c6b015af250f6a725d7c3907fc8a6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>black spice jar</name>
+         <color>black,silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>tall black cylindrical spice jar with screw cap</description>
+         <min_height>0.1113</min_height>
+         <max_height>0.1113</max_height>
+         <real_height>0.1113</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190624</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023788 -0.023814 -0.055592</min>
+            <max>0.023804 0.023684 0.055723</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4799690
diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/textures/material_0.png b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/video.mp4 b/dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/video.mp4
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