diff --git a/.gitattributes b/.gitattributes
index 080a831cb0c60ad53b84bed7e7b29bb7cbdc845b..42df0cc1f5d1e129dbef61b875e85b4edc948b3d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4532,6 +4532,5 @@ dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_g
 dataset/kitchen_supplies/utensils/7430dc594d845ffeb0800ddf9353a7e4/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/mesh/spatula_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/spatula_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/7d73571e3d5c5841b2773b1956cd62d2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/mesh/wooden_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/spice_jar_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material.mtl b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8deedd0428a7dd97183ba37f6bc8b5afe5dfa26e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_024_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spice_jar_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab0e3afa44599b60a2566afcc86f02d881d7c25c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d16773834ec721346072ff93a8bd3ddc887719aaff98690d633ff5915b96539
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.glb b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7ccb158140bf149f0af57494d47948e0d4e95b06
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3762ba10ac3075f1a7fe7c282542d48f5c2585e681e4740392ef6dd09c0062a
+size 15299184
diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.mtl b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e589a57ccf7ce77f92d791ccf2fec7d277eeb22
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_024_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/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805cd0ddc35911be0e207913de6c0428a105661a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024.obj
@@ -0,0 +1,109952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_024_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024_collision.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64bcc4054113c693cd5eee2dd3decffa8f30bac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mesh/spice_jar_024_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848b5f3fc3908769312862808265dd1ad50d69ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision.obj
@@ -0,0 +1,10616 @@
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_0.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fab8ae43470abec0a6175f90b5cf66f59af23512
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_1.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e238788b5a30ec7dfad8627b68af9ee65f30c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_2.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1141d73331deb0ca6d45c27b23fa082b8c5d147
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_3.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd236ec05f87789645c8621d1b6b9a99b7a17b8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_4.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9deeab4b2a8a4258d43f5d190c5f0a93c21034
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_5.obj b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6d117b6c9baa744349adc8e658c53b7007731a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/mesh/spice_jar_024_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/spice_jar_024.xml b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/spice_jar_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..679d0a136b483290f7ad0a1301980ead7df1815a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/mjcf/spice_jar_024.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_024">
+      <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/7860de426f4654639a1e6f4af7812091/spice_jar_024.urdf b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/spice_jar_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6e2539672340861134b42b9365fe3620b10f718
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/spice_jar_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_024">
+   <link name="spice_jar_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>7860de426f4654639a1e6f4af7812091</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>white spice jar</name>
+         <color>white,silver</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white lidded spice jar with tapered cylindrical body and silver trim</description>
+         <min_height>0.1941</min_height>
+         <max_height>0.1941</max_height>
+         <real_height>0.1941</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155203</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060975 -0.060468 -0.089051</min>
+            <max>0.060999 0.060532 0.105056</max>
+         </aabb>
+         <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/7860de426f4654639a1e6f4af7812091/spice_jar_024.usd b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/spice_jar_024.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/spice_jar_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c961540dcad1742a57e18b5ec9b534b862b29544c7ca6c847872013b0939dc7c
+size 4977396
diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/textures/material_0.png b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/textures/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11850429
diff --git a/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/video.mp4 b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2604d9f83ada81db0bd8f399c58c8af32220810aa2d15fd65d22ee25fd85c484
+size 409647