diff --git a/.gitattributes b/.gitattributes
index 67735847c704b1ea2ebfb428c9251f0335c8515e..7f75bad5cada2fa30b598600298dc76fa0cd317b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4210,3 +4210,5 @@ dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/mesh/metal_b
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/5ac649c5ba98518eb94fd45d74da6981.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5ac649c5ba98518eb94fd45d74da6981/mesh/fruit_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material.mtl b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebf3d34bdc3ddadbf6f34aae252f6d41a74083f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material_0.png b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fa32df8f9dc80d07882b049a7a1b49194353f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9294542f5e0eb06d032b1bcc4010083c7ff77bbf49e4a0b3bf8735cae66d7b85
+size 6947584
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.glb b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ff8dfb9693b4d65b83f22037737c466069b13dc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0386b168dd50ddf039e5efcca5fa0e4890f0527cf35b705d9931e1b405b626
+size 10336980
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.mtl b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8a728816d4e326f3bed667b6fa6b5c0fadd157c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_026_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/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e30e74e909f3c597598f55e0543d4a75c3a7fd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026.obj
@@ -0,0 +1,108846 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_026_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026_collision.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a6a1ebd889ae94a77221d9e0b86cd4581780bc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mesh/spoon_026_collision.obj
@@ -0,0 +1,4679 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026.obj
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a99e98127ceaa9a97ce7bab0b1b4ed8713b1c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision.obj
@@ -0,0 +1,4679 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_0.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d307aebd15a71cdee75539a7db208d68d2fa9235
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_1.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9665a1697c6507cd04dc1ace9730e6c3fc3aed68
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_10.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142a0a10c35577ff50ca47678c61c06264799c89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_10.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_11.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3524a56fce3c8d1885b590e32add0173bf890e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_2.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759de51a8dbc35ea0ade965694f4043a0536e4a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_2.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_3.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1179a7ffd01b4328664a86b46f6df5bf0770cc5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_3.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_4.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8841db7cb39802a2265420fd3a8fbe0e6ea71c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_4.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_5.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852b76a68fb5f84c4ddf30993eb271f3aade13d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_6.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3438e55a530352d775259791119e53154a8aa686
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_7.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3edd949ddef62edaabe7efa99014edcc06d6de54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_7.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_8.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea99d4e91763b30b3ac4decbf1888347ce214da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_8.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_9.obj b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93381bbc0e3a58427eb2ef854c432293761d37c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/mesh/spoon_026_collision_9.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/spoon_026.xml b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/spoon_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7dac7fcc6ac41a2ed7d9143fa66d914d8b586457
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/mjcf/spoon_026.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_026">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/59b09b2857225f8b93d48926b511427e/spoon_026.urdf b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8646a87e4665c6e8518c7b0d5aad1dcc54abecf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_026">
+   <link name="spoon_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_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/spoon_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>59b09b2857225f8b93d48926b511427e</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>white spoon</name>
+         <color>white</color>
+         <shape>elongated</shape>
+         <material>ceramic</material>
+         <description>white spoon with shallow bowl and narrow handle hole</description>
+         <min_height>0.0211</min_height>
+         <max_height>0.0211</max_height>
+         <real_height>0.0211</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185529</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055242 -0.017354 -0.008445</min>
+            <max>0.074758 0.017815 0.012653</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.usd b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/spoon_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e141583790b38f6b3f81c4817b61b027a99fb1d8c0b4d7ad6fb69ad15ebceea
+size 4923575
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/textures/material_0.png b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fa32df8f9dc80d07882b049a7a1b49194353f4c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9294542f5e0eb06d032b1bcc4010083c7ff77bbf49e4a0b3bf8735cae66d7b85
+size 6947584
diff --git a/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/video.mp4 b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a99dea5889ffb0b653ba93753cbbbdca912ba88a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/59b09b2857225f8b93d48926b511427e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 71767