diff --git a/.gitattributes b/.gitattributes
index da09d47a7fc92b01beb8bb507908ea8cf75e0edc..52371c1a27c3de097869fee85fbc204ceba5cdf3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4487,3 +4487,5 @@ dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/mesh/spatula_
 dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/spatula_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/bottle_opener_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1fbbd10d85bb529ea42e51c45e5afcb9/mesh/bottle_opener_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/material.mtl b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14ce1d3ad51fd4ea0f43413a8de60f8440fa1ede
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spice_jar_017_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/material_0.png b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/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/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.glb b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..27f149439aa2d6d0ff9ee9b795b78873457f5b78
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.glb
@@ -0,0 +1,3 @@
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+size 12919120
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.mtl b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..93c4c598dcb43f98a3ccb2e4e679817cb8fcf193
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.mtl
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+newmtl spice_jar_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710095d01594132bfecabb56dfa3f4486d0ef760
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017.obj
@@ -0,0 +1,108896 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017_collision.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4705fc2db86d6c58553b1cafe9bbbaf6259f455
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mesh/spice_jar_017_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1609c33150964e7a7da1ad78d395bbba7845fb1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision.obj
@@ -0,0 +1,39050 @@
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_0.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c612803acad8ee0ac909b2ee2122b7cb42ced34
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_1.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccfb10be00a7b02e89624d56cfbced1aff1022e1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_1.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_10.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f71699833e06f8c948f057aa69ed1b81aee8c84
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_10.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_11.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5520c1951feff63f1cc935cc177abb5e6e763bb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_11.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_12.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6488528f4950a4bdba27670a31802721b9ea2e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_12.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_13.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8865cfc8f6a65a3eb6d96696c15986a59eff716
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_13.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_14.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..291143c6d3eed39917ebd624c16bd5992f3b3634
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.02257657 0.00020883 -0.03970209
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_2.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..047d1c5842f8bc82c66764dd68618e5371c3872b
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_3.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed270b8794fed6553bbbdf0cc32e4367d4781d5e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_3.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_4.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957132391d593276a5afe8f78a0425876c890d58
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_4.obj
@@ -0,0 +1,1510 @@
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_5.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f547144ec0825d7f952987a3d5ce3e520188805a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_5.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_6.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35addf2cb69a2c96ea880c4809faa920c2864c48
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_6.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_7.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..febd77ae8c1a013fb74cce13e8c5b83f8f2bf079
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_7.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_8.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebec48e4936d5b782a8123665337a5e4cbc70f7f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_8.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_9.obj b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a7a0d92d3d49c9e947c4b6e2508a5874c8f0fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/mesh/spice_jar_017_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/spice_jar_017.xml b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/spice_jar_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7ee3357d0c50f4d5acc0eaef40862c5b33c8982
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/mjcf/spice_jar_017.xml
@@ -0,0 +1,44 @@
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" 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/270126671fba59a4b0db50cf90d201c4/spice_jar_017.urdf b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c913774f024ca9fb3d343156bda61d5a0ffba4ce
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spice_jar_017">
+   <link name="spice_jar_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spice_jar_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>270126671fba59a4b0db50cf90d201c4</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spice_jar</category>
+         <name>ceramic spice jar</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>round white lidded spice jar with embossed front emblem</description>
+         <min_height>0.1021</min_height>
+         <max_height>0.1021</max_height>
+         <real_height>0.1021</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190718</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052014 -0.052158 -0.041975</min>
+            <max>0.052625 0.052445 0.060113</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/270126671fba59a4b0db50cf90d201c4/spice_jar_017.usd b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/spice_jar_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac3da40a820f9ca421bdc003c61ba470c8675918f76a5113f0c7081343527b4
+size 4965806
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/textures/material_0.png b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9473803
diff --git a/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/video.mp4 b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/270126671fba59a4b0db50cf90d201c4/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6442b4f15907a98b3ee3d6957d9f0585daf89eb1c5213cb7c02604b7199a5a01
+size 158791