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Add asset kitchen_supplies/tableware/0391f552c5255069909b0db6e5e48c50

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.gitattributes CHANGED
@@ -8404,3 +8404,4 @@ dataset/kitchen_supplies/tableware/012d1fb76e005cbebef8e6fdcff3e51d/affordance/m
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  dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
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  dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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  dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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