diff --git a/.gitattributes b/.gitattributes
index 42df0cc1f5d1e129dbef61b875e85b4edc948b3d..dfc38d533bad9d8d10d4e0dbb3e4addbda619dfb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4532,5 +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/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
+dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/material.mtl b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..439ada85e763939f6f64af9d9ecad7d102859d44
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_028_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/7ae70e9c278c56fc9d947579e8b71f97/mesh/material_0.png b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4308d9fa8937372db473ad4853fd729aa0822b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/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/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.glb b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..258619baad429ac9a3cb23880838f4132ef95fc6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12678448
diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.mtl b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..150341b96605b17c15bfd7d858dc73d32bb2cd84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_028_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
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..469c0db92b3e97a757254d3b38484a18181278a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028.obj
@@ -0,0 +1,105018 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_028_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028_collision.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9da2a68619fec106b3ab41134bdfee130309ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mesh/spice_jar_028_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc7797a254dd8b42ee7c2eae4efda8a87f1bc47b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision.obj
@@ -0,0 +1,33678 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_0.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecf1a8cc86176425bd3d98b046c8926ee34d893
--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_1.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3ab36b91c4aaec77dc9bba5498ce0f55bb8cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_1.obj
@@ -0,0 +1,5200 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_2.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff91bd6fc7e078b69fb2a3781c78749656cba92e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_3.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb35c8e72380dbbc25882d080a5622353bcf7b1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_4.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83dd42a98aaad68925d4e85ee56bbcd4fb7f232
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_5.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1fbebbaa9eade4a6fb5745c2a71b8b81703d84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_6.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbf6f1a80d190191cbb648bef141e23162f00e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_7.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b09a7621915e32d2dd570351f2700e304d6ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_8.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cdef2022a5659164348cf971a5af16790ab7cb8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_8.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_9.obj b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd4d530549ff2dc86929cf0a504690d172fe062
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/mesh/spice_jar_028_collision_9.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/spice_jar_028.xml b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/spice_jar_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..372654188ee4474aa1c0bb4384c33156caacaf5c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/mjcf/spice_jar_028.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.urdf b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.urdf
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+++ b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_028">
+   <link name="spice_jar_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>
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+         <scale>1.000000</scale>
+         <uuid>7ae70e9c278c56fc9d947579e8b71f97</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>ceramic spice jar</name>
+         <color>gray,brown</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>rounded gray spice jar with wooden lid and dark base</description>
+         <min_height>0.0738</min_height>
+         <max_height>0.0738</max_height>
+         <real_height>0.0738</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155333</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.039973 0.039991 0.037888</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.usd b/dataset/kitchen_supplies/utensils/7ae70e9c278c56fc9d947579e8b71f97/spice_jar_028.usd
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