diff --git a/.gitattributes b/.gitattributes
index b6bc3fad9e6adb4def05fd30c08053be19893683..b7f3b67ef64dcd777a221e37104f4116f66f1e4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4136,5 +4136,6 @@ dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/chopsticks_0
 dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/mesh/chopsticks_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/mesh/chopsticks_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/mjcf/mesh/chopsticks_009.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/mesh/spoon_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/spoon_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.urdf b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8abb00a9dfb30cb94c3ae6b743e375b1f5886e63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.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>0.40</mu1>
+            <mu2>0.30</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>0.258705</scale>
+         <version>v0.1.7</version>
+         <category>soup spoon</category>
+         <description>curved metallic soup spoon with 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>20260120022402</generate_time>
+         <gs_model>mesh/soup_spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.356833457946777</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.usd b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3c8eb18656684deea76a1f874b77d00caf9f62c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/2a986e13926a52ac8bcce716170b07c2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b5fc9226ae7d4a0ee2dd85e468e8e3fae70bca8e210408e062891f56dd4995
+size 505029
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/material.mtl b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/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/2a986e13926a52ac8bcce716170b07c2/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..34de7b015b1e7bea1dadddda289bec773f456524
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97949645ca1e73bb502a0dc071497a6570d8fab52e63aba5ffdc3181c8a8daa2
+size 1623749
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.glb b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a819d634f8233b0eb6b8f2d57de4cd242e52081e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21db55c25f5d85a3b069d72857cb66c90f1390806391e799da2163bc7c094c1
+size 1963724
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800ded3af3f085786cc3e59a432d4e434e75c270
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon.obj
@@ -0,0 +1,30954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198c69fd88f0557f41054ebccb6b43f7c59fd7db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_gs.ply b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7707504856ca8d79a2b576eb8ca25e28f5f58124
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mesh/soup_spoon_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ba680210bd2ea17a51aee7cd7383d59f7321dea3540ae692e2a13e23c4b003
+size 729705
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/2a986e13926a52ac8bcce716170b07c2.xml b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/2a986e13926a52ac8bcce716170b07c2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ab843c3ed243ebf89c3921316a7a622973df0b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/2a986e13926a52ac8bcce716170b07c2.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soup_spoon">
+  <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/soup_spoon.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+    <mesh name="collision_mesh_0_2" file="mesh/soup_spoon_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soup_spoon_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soup_spoon_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soup_spoon_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soup_spoon_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soup_spoon_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soup_spoon_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soup_spoon_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soup_spoon_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soup_spoon_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soup_spoon_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/soup_spoon_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/soup_spoon_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/soup_spoon_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/soup_spoon_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/soup_spoon_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/soup_spoon_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soup_spoon">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" 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/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..34de7b015b1e7bea1dadddda289bec773f456524
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97949645ca1e73bb502a0dc071497a6570d8fab52e63aba5ffdc3181c8a8daa2
+size 1623749
diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9526833aacef6a51325c3fac6ede43e389f53754
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon.obj
@@ -0,0 +1,30954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ddbbc4d10f2e7f8495ea81b5ae8ec0dc399575
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision.obj
@@ -0,0 +1,8811 @@
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f114ab4235618483bfd5096107dc7d5fc52fac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df14f87208ac7b7a7fb70d0e5aa5ed946a94abd7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59cab385db7748c0ee06933c468ba31602976dcb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_10.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283a1886a29b371ff7bece594714262d91f49598
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b8262fa4ef977aec66d6020186d89e8d96ef70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_12.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a6d710e38448756cf46ffc1da2feb62bec2a4f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_13.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4d618a8a8fc7a18f00d54f4a39dd78d7f25348
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8188c5877c84986cd9b4cbf7762a17859dd1c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_16.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563148d48c5e1028723155dc8fa7061296127394
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_16.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_17.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039f9e607880296f3a83417fadc0f9d4275766a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_18.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ed7f2ad19c0c4241accfa62a9b05c44b88c94c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_18.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac5c582536d0ac16ab69e0b4476826456aa0a0a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac30532a9608999aca0d84dea25111357c6a647
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973077b4074e367a6e1ce70e3f56c4d639b6f6e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87cbe243be531f617f59afb8243091940f93d0f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_5.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bd8b55312292c9191b86bdec2b5e7be17a66b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a78155819966c05134c662d33f87c887542ba5e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b7028e8c1c60ab311528db8517acafa32f2cbfe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/mjcf/mesh/soup_spoon_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f448581524a085f90192761a051865d706a512
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diff --git a/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/video.mp4 b/dataset/kitchen_supplies/tableware/2a986e13926a52ac8bcce716170b07c2/video.mp4
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