diff --git a/.gitattributes b/.gitattributes
index 87ff582d479e4118c5b058085e95ddc7b5658015..c303207ecbbece218b4f89c71f47474cc72a0278 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4483,3 +4483,5 @@ dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/mesh/wooden_t
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/mesh/spice_jar_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/0f3c6b015af250f6a725d7c3907fc8a6/spice_jar_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/1f0f51f7509c5779bd223bd244d7c1fc/1f0f51f7509c5779bd223bd244d7c1fc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material.mtl b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3787af86e0ad190ce451c38825c5624d6fa452a1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spatula_015_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 spatula_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material_0.png b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e59b84cf5606d188aee6b6d69d06c82ad2e8d3a4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4849618afd4a22b9e664f815b031eee543a3c2a1f48198de0cc9f6ca39d0b183
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.glb b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dfd26bbb802ca306886c31fed7aa531d98c64894
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f8765fd8a876876ea3c0f8b930431fef0225e501f15dfeef37844731337af9
+size 10141640
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.mtl b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5dcb5534bc5a1bacba5615198628094ece64e7ec
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.mtl
@@ -0,0 +1,6 @@
+newmtl spatula_015_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/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098e59d62386cbdec950879d013a2d89fa87f591
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015.obj
@@ -0,0 +1,106790 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spatula_015_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015_collision.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d1cdecc7c411cf9f8822fb1d5400d00de6747a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015_collision.obj
@@ -0,0 +1,4503 @@
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015_geometry_Looks_material_0.png b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mesh/spatula_015_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015.obj
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f585513bb1b0289d8f65b4212a600260f35678
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision.obj
@@ -0,0 +1,4503 @@
+# https://github.com/mikedh/trimesh
+
+o spatula_015_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_0.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992c8f06f5c93b9166ffc53481fb2b0cf26ecce9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_0.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_1.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9936d46ed444ecc5352f9a2bd190c1e99d9ca923
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_1.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_2.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a0c5dc05037da5e4ec224417252d10e876ef7d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_2.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_3.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63d7e3ce577f1619f1d1b69e667ab0223b0eb856
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_4.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6d33092ca43a4330274cb1f30be9a8cd2d31a2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_5.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29bac8de5ef26301c39fa4a1db00b305d63e0819
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_5.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_6.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d72ae957e03dd5daab71f1fadabb0a627d83d2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_6.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_7.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8651ccc1bb33c694ffd52efeca63b31e42251ae
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_8.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500e7d2dde6beaa7085c5ff6b0dcb7cc634ef849
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_8.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_9.obj b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e31a3958c39b5af86a500ac0f7757e914cb9086
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/mesh/spatula_015_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/spatula_015.xml b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/spatula_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4abcace3357922cf8703ff9a76ece7c8bd970e56
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/mjcf/spatula_015.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spatula_015">
+  <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/spatula_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spatula_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spatula_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spatula_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spatula_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spatula_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spatula_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spatula_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spatula_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spatula_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spatula_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spatula_015">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.urdf b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..120ac900d2ee9a736e42f2bdd1d6d82b6057e9cc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spatula_015">
+   <link name="spatula_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spatula_015.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/spatula_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>1d5efa73817f5734a6f48641511d1ddc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spatula</category>
+         <name>black spatula</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>silicone</material>
+         <description>black cooking spatula with curved handle and broad flat head</description>
+         <min_height>0.0805</min_height>
+         <max_height>0.0805</max_height>
+         <real_height>0.0805</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190232</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.154929 -0.046548 -0.035648</min>
+            <max>0.165071 0.056188 0.044837</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/1d5efa73817f5734a6f48641511d1ddc/spatula_015.usd b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/spatula_015.usd
@@ -0,0 +1,3 @@
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+size 4908952
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/textures/material_0.png b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6805727
diff --git a/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/video.mp4 b/dataset/kitchen_supplies/utensils/1d5efa73817f5734a6f48641511d1ddc/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371bb3730d7b1f651c7d58999fe32bf74ebb9fb8fb67a0f844133c413b082a15
+size 77086