diff --git a/.gitattributes b/.gitattributes
index 62ba540ee6406e5c31b20e66ce7afdc0661d93c2..286e00d2ec925fa5fbe97602953e6c2c2ebe8d67 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4083,3 +4083,5 @@ dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/coaster_002.
 dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/coaster_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mesh/coaster_002.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/mjcf/mesh/coaster_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material.mtl b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2246b388782e378c09e0104705ead5ce33435da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_028_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spoon_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material_0.png b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5cd69e437bf1e565cc151f5d9bf699f2b23be8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad46ec955281bb1092e31c972bea042e8e0721b1cc48fcf0b081f6daaef8d97f
+size 5508093
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.glb b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ad48948e73ee4338a2db152d7b9e258f1363ef9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb3dc886d11fd84d8dd9b7d3f2cf495405c17e5e54e2d9850a75046946af925
+size 8882164
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.mtl b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..acdfd0ad977b8c618b852b84563fccd2d7685cd4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_028_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e0820c18b9edbf7f60ef8c44aa04a38e286562
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028.obj
@@ -0,0 +1,112492 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_028_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028_collision.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2351681ff2f0e3c5a9d1ee10de836f7b8eebbd55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mesh/spoon_028_collision.obj
@@ -0,0 +1,4624 @@
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index 0000000000000000000000000000000000000000..32f891b95bb3780535b43b1d41b62fc8cb2ffc87
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028.obj
@@ -0,0 +1,112492 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_028_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2d8b147b1860529738072f437a223118b22fa8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision.obj
@@ -0,0 +1,4624 @@
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_0.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbaae6f510e8ac9234ff5af9438995f476950d9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_0.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_1.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1d5356f17e266b3b0a3dd73ba1e89cdf0b0f07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_1.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_10.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0169986f507072c2180f57d6671dbaf54a43e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_10.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_2.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c2688b72fb1651ffa36fdef1946472f8b64643
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_3.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d5b65c5302b9b7eef3966e20cfe10c979d75824
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_3.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_4.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe9cb8734343ff0d4a53ffa6c1ead235b4f08b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_4.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_5.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..635afc8812e364b50558705dfd1e100568c83ae3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_6.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bbf8b55aa3b0c006c6a0a99de8bbf2f76b00cb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_7.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a36def9f4190860625bbd807368215690caf07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_8.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9fbe9eb42beffa38fd2dde48b7ce17214e61a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_9.obj b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5d6d1a6792b40cb8c1bb5b14f3b5c9733cb45b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/mesh/spoon_028_collision_9.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/spoon_028.xml b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/spoon_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..37840fbe4eb29387988d731b855059c2cf82a456
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/mjcf/spoon_028.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_028">
+  <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/spoon_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_028">
+      <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/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.urdf b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d782bd5de7fb0ec1185a9adb11a2772584195aae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_028">
+   <link name="spoon_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_028.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/spoon_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>10ebe226c09957f69ea8acf46a424ab3</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>white spoon</name>
+         <color>white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small white spoon with curved handle and hanging hole</description>
+         <min_height>0.0190</min_height>
+         <max_height>0.0190</max_height>
+         <real_height>0.0190</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185603</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.056058 -0.018077 -0.009832</min>
+            <max>0.073942 0.018110 0.009149</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Green marks tiny printed details and hole interiors, not functional parts; handle and bowl are merged.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.usd b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6c91bc360d6fd298e1f1ce69232b22b77579bd39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/spoon_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02e001d1e0052536ea9f90b7bfb5c832daa5f8c8eee78216e3310be21b3f760
+size 4909738
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/textures/material_0.png b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5cd69e437bf1e565cc151f5d9bf699f2b23be8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad46ec955281bb1092e31c972bea042e8e0721b1cc48fcf0b081f6daaef8d97f
+size 5508093
diff --git a/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/video.mp4 b/dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/video.mp4
new file mode 100644
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--- /dev/null
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