diff --git a/.gitattributes b/.gitattributes
index a24ea2a2d084d96635f0ad6ab86cc129fa82ae31..ae9db4d27a47904e0ea9e3cdbe0267c082dd72dc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4525,3 +4525,5 @@ dataset/kitchen_supplies/utensils/29bc3225744159d481a401c63c3f3c49/mjcf/mesh/bot
 dataset/kitchen_supplies/utensils/578f69c29d15566e99bba0bbc2ae3739/578f69c29d15566e99bba0bbc2ae3739.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/mesh/spatula_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/spatula_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/material.mtl b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0f9536729ccda7dae63860a775207dc2eb9bc16
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/material_0.png b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.mtl b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.mtl
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+newmtl spice_jar_029_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a1a5af67a6b1dbe72d8c11d44aaa9b9eac71d1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029_collision.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e53037fada583fb8ea152cf1f43b6a78f23946
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mesh/spice_jar_029_collision.obj
@@ -0,0 +1,7775 @@
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db292c0f934db1f8d7788c80ec2fc5cb741ab76c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision.obj
@@ -0,0 +1,7775 @@
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_0.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e1debaa9a0a770faf4cec77f3c0580712f375b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_1.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8759c490aa2e57516e5ece072aad57a53609bcd2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_2.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5db8b7530bde8c8b91beea9c86d5814b0903fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_3.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6583a17f14bcc2ea2ac2df3bb9e0b2991b18517d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_4.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c07fe8bf94c94857dc40c99d114646df55d998b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_5.obj b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21541683a799ed03ac999d0b21973f279a626d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/mesh/spice_jar_029_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/spice_jar_029.xml b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/spice_jar_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97b1130fad0d16136219952bbbae30522d8e2f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/mjcf/spice_jar_029.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_029_collision_1.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/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.urdf b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_029">
+   <link name="spice_jar_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
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+         </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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+         <uuid>540c2a7bbb6d53da9ab303007a872a48</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>white spice jar</name>
+         <color>white,gray</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>white cylindrical spice jar with lid and rounded knob</description>
+         <min_height>0.2027</min_height>
+         <max_height>0.2027</max_height>
+         <real_height>0.2027</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155407</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.061081 0.058385 0.115113</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</part_count>
+         <visual_seg>
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+            <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/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/spice_jar_029.usd
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+size 4970781
diff --git a/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/textures/material_0.png b/dataset/kitchen_supplies/utensils/540c2a7bbb6d53da9ab303007a872a48/textures/material_0.png
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