diff --git a/.gitattributes b/.gitattributes
index 1caf5b61e7e33cbdb0788e7991cdc39f3ec8e0a9..409ac6d3d2f558218cf35710da14ca5cdab6947a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4239,8 +4239,6 @@ dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_c
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/85aa0ecaa5e75c9c80f4b6226505ae04.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/chopsticks_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/mesh/chopsticks_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/87cdeb01ea5454f18332e68458aa99be.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87cdeb01ea5454f18332e68458aa99be/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87d669df4270594bb92d919407622c99/fork_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/87d669df4270594bb92d919407622c99/mesh/fork_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.urdf b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d0f31c4ca0e6281f3291924d5c361a232e32861
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soup_spoon">
+   <link name="soup_spoon">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/soup_spoon.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/soup_spoon_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>0.389408</scale>
+         <version>v0.1.7</version>
+         <category>soup spoon</category>
+         <description>black and red spoon with curved bowl and elongated handle</description>
+         <min_height>0.020</min_height>
+         <max_height>0.030</max_height>
+         <real_height>0.025</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260120020933</generate_time>
+         <gs_model>mesh/soup_spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7378458976745605</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd
new file mode 100644
index 0000000000000000000000000000000000000000..946ae86ac5e8001d2f24f4df3cf52395bce023f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/879b79bad9635096a48ca826c267e143.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c90f3dcd4ee996e535126420d930a9deeb024071a590adba583a67cb996111
+size 397251
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material.mtl b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material_0.png b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc9a23124fa38258e02b4d6d41e5bcfa1f1b8183
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd0ddfcd9174f0e11fbd70ec3576af3e3e1543a3355808261b324d4046a6aac
+size 1767791
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d4e402e79a3bc1b4ff1d093906c2d5569e73cbc9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6d2ec5f7e2aed260e82cdb3e1c205fc9f4aadd51a68c954aaf2d96e959fcb8
+size 2037412
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3523ab8abef02ce11bab7fc4f8e4b77628adbd2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon.obj
@@ -0,0 +1,24556 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9967f5a0e724d1a631b9af4deda2fe17810eb6ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_collision.obj
@@ -0,0 +1,5127 @@
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e2e63a9bd8533de7b106562bc2fd1a60c4fa51b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mesh/soup_spoon_gs.ply
@@ -0,0 +1,3 @@
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/879b79bad9635096a48ca826c267e143.xml b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/879b79bad9635096a48ca826c267e143.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0e6b3080bb024b4b464f3662b8004146fff5f948
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/879b79bad9635096a48ca826c267e143.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/soup_spoon_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soup_spoon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143d3c9a877dde2ee6dc68d92426847d3a60ff74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon.obj
@@ -0,0 +1,24556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0924f8d29286aa24bf45dc4f65de7a4df8a6e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision.obj
@@ -0,0 +1,5127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22906e082463ab0cfd5df2108ad1eaa684b030b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a019b3b2c037303ff4585650f9ab85528018c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbb182f90c7d06ea26951e34350de17b769b0f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079d3ec14f286633d0d9ee7d6a90639b1fa39138
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dafa5d8e877310929b7d22bbbe34b92a6b32d07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_4.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77f751abfbed635e1c9757b979af3608c1de278
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_5.obj
@@ -0,0 +1,766 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f74469ab31b32f3f23764f83e2984bea25b73a90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_6.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e377fe02b5c4cd4a295c074f26144681758501f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e4aa7ae64711682e27ed2849b8280b68814818
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_8.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/mjcf/mesh/soup_spoon_collision_9.obj
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/video.mp4 b/dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/video.mp4
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