diff --git a/.gitattributes b/.gitattributes
index 1037a05da71ab15e79dde22b9ae4d06985084d8a..e3292be347bacba3bc7b35fe2e5a183757ac3206 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4566,7 +4566,5 @@ dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/mesh/spatula.
 dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/mesh/spice_jar_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/9fd8373033045141b07e4c4f9b2165bc/spice_jar_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/bottle_opener_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mesh/bottle_opener_006.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/mjcf/mesh/bottle_opener_006.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material.mtl b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..293831da312aba55f830960041dc0c63b31ae29b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material_0.png b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e51ab8cadd14cd708b1ba165af9a08e7bc067a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa89fa87302f154078b69c6f8e5788182cefc877e350ecb407b99f948f0bacc
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.glb b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8ee66fb2889b76acc6fe2f3b90ba860832747ec7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b0807066cc149cd970a294101e25454239cb109420c1d6b1ebc2953861af19
+size 13419984
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.mtl b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12955830334c53b163b4d45c2c2efe5c31710a09
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_011_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/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5068d258db9e8b997e17ccabd1a7e3d6b90d0228
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011.obj
@@ -0,0 +1,111352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_011_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_collision.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb58857216148f6a8bf24da09d87b980aecf3aa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e51ab8cadd14cd708b1ba165af9a08e7bc067a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mesh/spice_jar_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa89fa87302f154078b69c6f8e5788182cefc877e350ecb407b99f948f0bacc
+size 10123650
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e51ab8cadd14cd708b1ba165af9a08e7bc067a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa89fa87302f154078b69c6f8e5788182cefc877e350ecb407b99f948f0bacc
+size 10123650
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc2278545f9fa4bf2e223e69a94e812e8519b4c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_011_geometry_Looks_material_0
+v 0.029534 0.006786 0.026753
+v 0.029534 0.006786 0.026753
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75dec620394f6c8a3b168f55fd6c1df03e19ace0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision.obj
@@ -0,0 +1,7964 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_0.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4c0f903e40c9c9154cc88f361a349e96e3309a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_0.obj
@@ -0,0 +1,2596 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_1.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1fcfee95e334550f075eb5fb6d992bd17583ea
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_2.obj b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0c914c5969aa780a0f389c774cfc61c8aeb887
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/mesh/spice_jar_011_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/spice_jar_011.xml b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/spice_jar_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c0ac221ca48529a85065759662e6a3d3ec046de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/mjcf/spice_jar_011.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_011">
+      <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/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.urdf b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c9c84a3efdaef94fe0684c9fe36d73507e1622f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_011">
+   <link name="spice_jar_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>a242d69cd48155e0a0cd7ad5daa04d03</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>gray spice jar</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>plain cylindrical gray spice jar with screw-on lid</description>
+         <min_height>0.1043</min_height>
+         <max_height>0.1043</max_height>
+         <real_height>0.1043</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190432</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032036 -0.031987 -0.052468</min>
+            <max>0.032019 0.031995 0.051787</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.usd b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9258907b1b289850c0d05dd791ffeff3f093640c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/spice_jar_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2db72b411e50069718b83b0f5f2c5403fed2844e38999756c0dc7ebe7291499
+size 4879815
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/textures/material_0.png b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e51ab8cadd14cd708b1ba165af9a08e7bc067a8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa89fa87302f154078b69c6f8e5788182cefc877e350ecb407b99f948f0bacc
+size 10123650
diff --git a/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/video.mp4 b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68e5192e513405350de4898f97650261c1d1b123
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:621887feaf615c0699b37fd3b6331d4383ca980762f062a3dea7d968100b36cb
+size 191994