diff --git a/.gitattributes b/.gitattributes
index d75d18dce207532929f964c1d0d9e7939488e52d..c6a193031070202e4a045b1b50119682e3c7a72d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4600,3 +4600,5 @@ dataset/kitchen_supplies/utensils/c78d56ead55d56a1b5a98a36f3247886/mesh/spatula_
 dataset/kitchen_supplies/utensils/c78d56ead55d56a1b5a98a36f3247886/spatula_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/spice_jar_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/material.mtl b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..944f2c34c14df233cbe5777207563540fad497e9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_025_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/cffeef63258e5005a71d8a032dd0f636/mesh/material_0.png b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..abcc8723427446f3e795d0755e75f9bb6268ebf5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/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/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.glb b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0d46bb2bb5ab03ef67bb1104bbe9fbc985110f2e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.mtl b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1aad60b41a872b99e4183bfd8102cdb46fa70b84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_025_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c5ba739bb37c5f1cedd580e81c75f9368402ae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025.obj
@@ -0,0 +1,106608 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025_collision.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9220cbc1c35006fead0be41c17cf9bb2c33b560b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025_collision.obj
@@ -0,0 +1,10281 @@
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mesh/spice_jar_025_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9423854
diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9423854
diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b61cf28d170cf69fc74feefd73df9dfd3aa096
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision.obj
@@ -0,0 +1,10281 @@
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_0.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43aac80c7e631337423975e4d1b5755a0387feab
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_1.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24926cb11c1cd0370647792cdd0690bf4e085547
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_2.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30f53c546c699f9da84de34cfe8eb93d328d263b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_2.obj
@@ -0,0 +1,4153 @@
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_3.obj b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05bf86461b0f6846d59ea338183ad30bd6f87af
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/mesh/spice_jar_025_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/spice_jar_025.xml b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/spice_jar_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0a79e332ba1ab9079e3b0e4336d346e27ec8cdf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/mjcf/spice_jar_025.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_025">
+      <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/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.urdf b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a36aae36780595d044d5d8202aeda0baf82e09bd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_025">
+   <link name="spice_jar_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>cffeef63258e5005a71d8a032dd0f636</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>matte gray tapered spice jar with perforated shaker lid</description>
+         <min_height>0.1773</min_height>
+         <max_height>0.1773</max_height>
+         <real_height>0.1773</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155224</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060760 -0.060389 -0.086131</min>
+            <max>0.059564 0.060611 0.091123</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/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.usd b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/spice_jar_025.usd
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+size 4835420
diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/textures/material_0.png b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/video.mp4 b/dataset/kitchen_supplies/utensils/cffeef63258e5005a71d8a032dd0f636/video.mp4
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