diff --git a/.gitattributes b/.gitattributes
index 854db9ef565ca4c66cc31e2a1ea61cb889ccc6d7..874dc9f4f35c1c8f64871bd4c1f5b2108d02d830 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4613,6 +4613,5 @@ dataset/kitchen_supplies/utensils/e21c79e7f3145a248ac028d6767daea1/mesh/utensil_
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/f1e1397147cb582a8d9d8fea8a2a5c2c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/f1e1397147cb582a8d9d8fea8a2a5c2c/mesh/spatula_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f5bcaaeed8b95b7db6bad0b1523e257d/f5bcaaeed8b95b7db6bad0b1523e257d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f5bcaaeed8b95b7db6bad0b1523e257d/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/utensils/f5bcaaeed8b95b7db6bad0b1523e257d/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/material.mtl b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..debfed222f9b3394b12ab318f6ae45f8f4be0938
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/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/eef61a67710054d6bdeeb14f845769c7/mesh/material_0.png b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c929c056fc772ce54886ba26b479c493d003f90
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/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/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.glb b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..136385277b36b9ca30542adb642da6fe32fc8c97
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.mtl b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c2d1b1c5a7dc4cf464b9a5362637e020fcb8b9b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.mtl
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+newmtl spice_jar_005_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/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85342faf56af312ffc051bcb99593f94946de8df
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005.obj
@@ -0,0 +1,112488 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005_collision.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b223213076882aeabebf1feded812dbc68f02f77
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mesh/spice_jar_005_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443025c1be4772dd87d059465151ca84367612c5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision.obj
@@ -0,0 +1,23626 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_0.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1210bbbe631d9f53355cc86cd5c9f98ee15b5bb9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_1.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8f664e1f3574e6095b34f1df10a7edb3eccd8c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_10.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfaac9e8ac3595a59bd9281059fecfb0965f010e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_10.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_2.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..453770a3bc5994513d62c38058dd5b84cee2674b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_3.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee7a32a4fe3592f913f3cf0a2054fe81eedf947
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_4.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2819321995faa25c3e5f3c6a45f6b414bb96ba71
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_5.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1baf56ebe79cdd7e537bb373956b316a4a468655
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_5.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_6.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a2b402fed86e7cdef6084c3b306a2650b0fc88
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_6.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_7.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7957d7e9fe37a180ac48942450af473b25870bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_7.obj
@@ -0,0 +1,3835 @@
+# https://github.com/mikedh/trimesh
+v 0.03588526 0.00969870 0.02012686
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_8.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c421a8c22108dd2988b0e0d44d0b87b71898bde
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_8.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_9.obj b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476f334c275eb158e597db02b33a4eb28ff9d2fb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/mesh/spice_jar_005_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/spice_jar_005.xml b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/spice_jar_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba7667dd498ea1ea5bc8a326d373947fe0352c96
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/mjcf/spice_jar_005.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spice_jar_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spice_jar_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spice_jar_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spice_jar_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spice_jar_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spice_jar_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spice_jar_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spice_jar_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spice_jar_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spice_jar_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spice_jar_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spice_jar_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spice_jar_005">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" 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/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.urdf b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83e7162a15f6fac335bf41a8a21aebe7bae4c759
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_005">
+   <link name="spice_jar_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>eef61a67710054d6bdeeb14f845769c7</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>ribbed spice jar</name>
+         <color>beige,green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>ribbed cylindrical jar with lid and side clasps</description>
+         <min_height>0.1122</min_height>
+         <max_height>0.1122</max_height>
+         <real_height>0.1122</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428014446</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.usd b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/spice_jar_005.usd
@@ -0,0 +1,3 @@
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+oid sha256:eb4cd8a0003010695283e7ca515a8e59e7193113c1c29230f834812eac72af4b
+size 4999841
diff --git a/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/textures/material_0.png b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/textures/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/eef61a67710054d6bdeeb14f845769c7/video.mp4 b/dataset/kitchen_supplies/utensils/eef61a67710054d6bdeeb14f845769c7/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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