diff --git a/.gitattributes b/.gitattributes
index dcb83743148bd412075ad1f1b3d1f966611af2a9..e89325b5518e4c9484197dd191c76eccc43ed7a8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4480,6 +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/17f39a6e208e5f1dbfb33a4277e1c534/17f39a6e208e5f1dbfb33a4277e1c534.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/17f39a6e208e5f1dbfb33a4277e1c534/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/17f39a6e208e5f1dbfb33a4277e1c534/mesh/plate_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
diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/material.mtl b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e74a31e26f5ebe0d8f779badea6de34a94e70a52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_020_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/material_0.png b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/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/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.glb b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b7537d3c333d1a2b87c28659dd4cba76ffccb661
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15462300
diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.mtl b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fea3c0aa0b9eee50bbe888dcf38d199809298fa5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_020_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/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6821988516032a12a314ea09abce37eadff3a36
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020.obj
@@ -0,0 +1,109327 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020_collision.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe246fbf653e780914b6f7c980ba6caf5332bd52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mesh/spice_jar_020_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcb8c14d90878eacc6209f1570889d330debdaf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision.obj
@@ -0,0 +1,21742 @@
+# https://github.com/mikedh/trimesh
+
+o spice_jar_020_collision.obj
+v 0.02417028 0.01455971 0.04575652
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_0.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5deae2d2c44431c7424b48829a4c929537184650
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_0.obj
@@ -0,0 +1,5116 @@
+# https://github.com/mikedh/trimesh
+v -0.00083726 0.03791842 -0.04061186
+v -0.00083726 0.03779954 -0.04218795
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_1.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0979357ecc23f59e8d102d8c183724dcc70aa45
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_10.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0033d056f6ca3972fe4b0ba5b0bcb432ff6e41db
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_11.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c38f1e0d9713a2349bc32df5f087c1155961099
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_11.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_12.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6524157cd4e03876e3cc6b4d9c13c0ceffce21c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_12.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_13.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2eb7f862cfbe82d8c6ae3600d88ad55111fb35
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_13.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_14.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..750f9011a118d4f300572b396a467b977dceffbd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_15.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6963218d19527e19a23075fd00c5a96bac9fd554
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_15.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_16.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3addc3a3daeb929b18ddd0d63a126c265b290a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_16.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_2.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b8872cda38d9b79029ff071b48cba7f14a078a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_3.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc81dfde14d8c63a061b62df96c8d406a094574
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_4.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2544c604cf07a7dc4f8c2e8220758245f64ff0a5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_5.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c0e0c683a3d5c058791ec8697c7ea2f46b58d31
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_6.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3828043cb2b80c11a926f450d0793a27ef592104
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_7.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fabff0be67406ede0f87ab8fb3504cda05e543d2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_8.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a647918b3292a60e78fc912a5641b5a8167495
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_8.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_9.obj b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ad62c29091f7f567a2bb5ab7362ece2d252071
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/mesh/spice_jar_020_collision_9.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/spice_jar_020.xml b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/spice_jar_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..baae56d171ca1002095256f0419253af57128670
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/mjcf/spice_jar_020.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spice_jar_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spice_jar_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spice_jar_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spice_jar_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spice_jar_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spice_jar_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spice_jar_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spice_jar_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spice_jar_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/spice_jar_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_020">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" 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/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.urdf b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bcfac3b1866d79065f231530f6bfe476fc79776a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_020">
+   <link name="spice_jar_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>12cab7c46fa8511f88739579b7c7dc5a</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>wooden spice jar</name>
+         <color>beige,brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>light wooden spice jar with cork band and rounded lid</description>
+         <min_height>0.0958</min_height>
+         <max_height>0.0958</max_height>
+         <real_height>0.0958</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190853</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038018 -0.037914 -0.046720</min>
+            <max>0.037898 0.037840 0.049085</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.usd b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/spice_jar_020.usd
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diff --git a/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/textures/material_0.png b/dataset/kitchen_supplies/utensils/12cab7c46fa8511f88739579b7c7dc5a/textures/material_0.png
new file mode 100644
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