diff --git a/.gitattributes b/.gitattributes
index 1723b6565bf09ac2c77b728bcad3df6277744059..eec37f0c2ea0d930c6965829de7663f4ee491b8f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4578,5 +4578,7 @@ 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
+dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material.mtl b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04d1426d555a376c14b13e92aad6cda048abdecb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_001_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material_0.png b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f70a526fe1a6c9e0209947fe8cad437c63ecf83
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12816473
diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.glb b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..908b6371bd7f9ecffe6b2b72bd38026313c838b2
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+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.mtl b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.mtl
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.mtl
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+newmtl spice_jar_001_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ccda781b8124a20a2bf7a9d6fd12ada3ebc21c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9467b688d6b2bef72ddc44aaca086f2acbaf7c8e08d331c8e17691de984a3a91
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001_collision.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f0ac62842f27ae39df78bd5640feea6dfb7b11
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mesh/spice_jar_001_collision.obj
@@ -0,0 +1,12720 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001.obj
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_0.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c83ac243526a0724d89c9ef0583bffed599d6f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_1.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e548a7509f767defa8e8bf6d12d7755f43546c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_2.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fa877f58fbc6437a64067ab4f0b99774916e69
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_3.obj b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d0d875f44e6a05e55146947439f2dc840d15fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/mesh/spice_jar_001_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/spice_jar_001.xml b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/spice_jar_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..19fc9f8911691af367ba59c5c4ac87676210bd08
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/mjcf/spice_jar_001.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_001">
+      <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/8f47b37deccc55058ed529c880180d7d/spice_jar_001.urdf b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0a8b7b166860dce552abf71134b0fdeb1e39e76c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_001">
+   <link name="spice_jar_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>8f47b37deccc55058ed529c880180d7d</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>glass spice jar</name>
+         <color>transparent and metallic gray</color>
+         <shape>cylinder</shape>
+         <material>glass and metal</material>
+         <description>transparent jar with metallic lid containing granular spice</description>
+         <min_height>0.0723</min_height>
+         <max_height>0.0723</max_height>
+         <real_height>0.0723</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414152456</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/8f47b37deccc55058ed529c880180d7d/spice_jar_001.usd b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/spice_jar_001.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/textures/material_0.png b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/video.mp4 b/dataset/kitchen_supplies/utensils/8f47b37deccc55058ed529c880180d7d/video.mp4
new file mode 100644
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