diff --git a/.gitattributes b/.gitattributes
index 8d9e3e5167ee4287fa094bcae766c55a14519f12..1723b6565bf09ac2c77b728bcad3df6277744059 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4578,3 +4578,5 @@ dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/mesh/spatula_
 dataset/kitchen_supplies/utensils/ae0ae73ac64957eca8741a62233e2259/spatula_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/mesh/spatula_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/spatula_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/material.mtl b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50431abe7fced3079f398c211aabf7e19e0477e5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_023_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/material_0.png b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/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/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.glb b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ce38aacd2046fc5fec10eac21540bd0956fa3b91
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+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.glb
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.mtl b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a1ede87333e1ea199f967d269df7eaab77288
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.mtl
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+newmtl spice_jar_023_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eec025f28d12762044eb664223def2c4ffa8420
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023_collision.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3819945c33c43de9462339e1e10dfa0606a6dd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mesh/spice_jar_023_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b0a5891dc921ebdb081d81d2bcc786db58d259a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision.obj
@@ -0,0 +1,10518 @@
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_0.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04066c8241cca29fcc199782eb333cec4dddacf7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_1.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef28dd620fd5e7ded7d2419c73892aaa94a1c0a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_2.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd9f55b98621dacc6ccdbbb0141378985b3bcfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_3.obj b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29036a2e5f99055eeb2de6eeee31a1529ab61ef7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/mesh/spice_jar_023_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/spice_jar_023.xml b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/spice_jar_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56aaba6db857ddec1af3da1d210ad9792662d27a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/mjcf/spice_jar_023.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.urdf b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c0c36e58e01d21761c6fbe494b92e55248dd66ba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_023">
+   <link name="spice_jar_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>b3f21fd58cee5524ac4ca5764d5ed2e7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>silver spice jar</name>
+         <color>silver,black</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>metallic silver spice jar with tapered waist and round base</description>
+         <min_height>0.1959</min_height>
+         <max_height>0.1959</max_height>
+         <real_height>0.1959</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155143</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061357 -0.060461 -0.093330</min>
+            <max>0.060940 0.060539 0.102612</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.usd b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/spice_jar_023.usd
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+size 4873989
diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/textures/material_0.png b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/video.mp4 b/dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/video.mp4
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