diff --git a/.gitattributes b/.gitattributes
index daf7792d9111c1b3441fd17487fbc5dbef86767e..53ce4666d0de4f989fff0d85fdd9da20c3e221e3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4599,3 +4599,5 @@ dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/dddf879d9f3b5
 dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/e43887a22e52507299eb1367c0960421.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/material.mtl b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f6545c3dc653c7621c3ac68bf540becb4d2044a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_019_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/material_0.png b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd2c861ef394dc314e408d59510e28f6a8929622
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/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/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.glb b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..98353e97574b4378abef9f4a95f8cbb67cecc89d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14591280
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.mtl b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7c9ba1e052974eea04533f766219d46cb3cbc52
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.mtl
@@ -0,0 +1,6 @@
+newmtl spice_jar_019_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/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2ceb5a89fdf3a1574896fbde9d4ca3c0dd6c5b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019.obj
@@ -0,0 +1,112582 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spice_jar_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_collision.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742ed06e4e0dd37a3a9973384007e4fd9105154c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_collision.obj
@@ -0,0 +1,5534 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd2c861ef394dc314e408d59510e28f6a8929622
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mesh/spice_jar_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11167980
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd2c861ef394dc314e408d59510e28f6a8929622
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11167980
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019.obj
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index 0000000000000000000000000000000000000000..3e13921366276b098d9ad966262e8e6d53863aeb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef10ebfa8aa60e3669cd39b020bfb3646a93b1fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision.obj
@@ -0,0 +1,5534 @@
+# https://github.com/mikedh/trimesh
+
+o spice_jar_019_collision.obj
+v -0.02290859 0.00090632 -0.04738758
+v -0.02263945 0.00090632 -0.04555378
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+v -0.02263497 -0.00089107 -0.04555378
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_0.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb8b99118aa20f68533119b6459e0379f6ad67f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_0.obj
@@ -0,0 +1,3034 @@
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_1.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42dfe3666d88dbf08e25f03f9a56b4a9a070b0b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_2.obj b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eecf77de15e7ef212f37034e2063e7662000562
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/mesh/spice_jar_019_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/spice_jar_019.xml b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/spice_jar_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..493b1ff2d67ce9e11736898316576f970179cb56
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/mjcf/spice_jar_019.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.urdf b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6291b888c7f59d03101d85bce06d296da71f4605
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_019">
+   <link name="spice_jar_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>dab488374089566e8e2e099d19aaac8c</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>glass spice jar</name>
+         <color>transparent,black</color>
+         <shape>cylinder</shape>
+         <material>glass</material>
+         <description>clear tapered spice jar with dark shaker cap</description>
+         <min_height>0.1112</min_height>
+         <max_height>0.1112</max_height>
+         <real_height>0.1112</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190834</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022797 -0.022774 -0.050725</min>
+            <max>0.022800 0.022789 0.060515</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>NO: {"summary":"Body, lid, and base are reasonable, but yellow marks are nonfunctional decals/noise.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.usd b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/spice_jar_019.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8372ef3f496e0f8121e88d26b1252098f907ee92d75796daf3e4438af6aeb67
+size 4962420
diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/textures/material_0.png b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/video.mp4 b/dataset/kitchen_supplies/utensils/dab488374089566e8e2e099d19aaac8c/video.mp4
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@@ -0,0 +1,3 @@
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