diff --git a/.gitattributes b/.gitattributes
index 86732b73a93590615862c63a6770e844d5277ecf..d75d18dce207532929f964c1d0d9e7939488e52d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4598,3 +4598,5 @@ dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate.gl
 dataset/kitchen_supplies/utensils/c96415bc77d9552db273087be9a64d5a/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/c78d56ead55d56a1b5a98a36f3247886/mesh/spatula_017.glb filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material.mtl b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..775d3740997e3643287e003d782505e1d47292bd
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material_0.png b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.glb b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.glb
new file mode 100644
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.mtl b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb48c2beff58d86e8a3ae8abef36ab974fe31304
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.mtl
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+newmtl spice_jar_026_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569de02e4eb842e9d6486939e305e46e833cbbc2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026_collision.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cb659ee0783631e6ee8e626e7758b62ea0bfa8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026_collision.obj
@@ -0,0 +1,14682 @@
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mesh/spice_jar_026_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005d0c95f54fd5191af24e4d944c90e6005af6cf
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision.obj
@@ -0,0 +1,14682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_0.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c242aa02064e3c1e27e94628b6ec5e5d8a4462
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_1.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5a50026b0dcb86250ce6c867a3f88f9d4f22ba
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_10.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1fb9225bf2228c673ef3f95ae58ede1b7eb7a7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_11.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7e5d42f2b00abe8f183632682a973615fd09e7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_12.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d0bc2302b5a4a37daf6d21ed3349da92e05598
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_12.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_2.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8755a330e0a45e2a2c9bc15d586f1ac121f0dbe0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_3.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be64dd949b6581619004eeb3ecba4f07a332e305
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_4.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a2e7ee48ae970ab93beda4eeb642f411c589c8
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_4.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_5.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29950c51c707d77774317bfa3d7e6a46da210eb4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_5.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_6.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41672252b597e25570aa3123e6e6b1786e8970ac
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_7.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9fa8917c4373c9d6b14ef8db2f89526979455f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_8.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fefbb15f0f2b8c7e98a3af7d46b3947f879df34
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_8.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_9.obj b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf38789c640c81309dda91b76e423b136729ac6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/mesh/spice_jar_026_collision_9.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/spice_jar_026.xml b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/spice_jar_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d490f14e7accee9051e5a10a849cedc7bcb203f7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/mjcf/spice_jar_026.xml
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </worldbody>
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diff --git a/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/spice_jar_026.urdf b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/spice_jar_026.urdf
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/spice_jar_026.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_026">
+   <link name="spice_jar_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
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+            <mu2>0.55</mu2>
+         </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>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>cf5bf93ee6cd527ca819981085031b5c</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 lid and wide base</description>
+         <min_height>0.1296</min_height>
+         <max_height>0.1296</max_height>
+         <real_height>0.1296</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611155244</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049766 -0.049994 -0.062154</min>
+            <max>0.049728 0.050006 0.067417</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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
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