diff --git a/.gitattributes b/.gitattributes
index 8ac0c7ec164652c34c71a79438c19ae13489d6d2..cd0678f2df32392ac96b747283283193907101b5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4202,5 +4202,5 @@ dataset/kitchen_supplies/tableware/531b6c64c7e355f7b6f51679fd9c4963/mesh/red_nap
 dataset/kitchen_supplies/tableware/531b6c64c7e355f7b6f51679fd9c4963/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/mesh/tray_048.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/504a39db044f5538b36d829f697be079/tray_048.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/53efc4c260d95a0c8dbae75fd25a7dcc/chopsticks_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/53efc4c260d95a0c8dbae75fd25a7dcc/mesh/chopsticks_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material.mtl b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b290d9ee799c9899e4b9703ef93804ad62674d11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material_0.png b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77bcc5ad4f214fd9d5180cf97a6ea0223be8a448
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49b35e61f63551afbfcc3971cc079cfad7a642feb9bc98689b5d65f08abe5db2
+size 8313287
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.glb b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fb02fb9d4745dab2d6f0f1dd20b9e9e38288749b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8dc426df200cddac4e5b4763a4b35d3c1d416c22db14e431e3787ed4a5b9ee
+size 11616764
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.mtl b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a82756c7a78523305346d7f1dea3d917b1e4a1d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_021_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/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044dd5cbc59b00cc4c258d3d0c2c6e445cabc84c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021.obj
@@ -0,0 +1,103864 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_021_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021_collision.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b3abead592b2df280c470460d0ec0458730ccc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mesh/spoon_021_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..77bcc5ad4f214fd9d5180cf97a6ea0223be8a448
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77bcc5ad4f214fd9d5180cf97a6ea0223be8a448
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+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8313287
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021.obj
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index 0000000000000000000000000000000000000000..38c832d049d475fdb0864a2a734722d030a44465
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+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..094db799f3da85ab983ad922bff77743be72708f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision.obj
@@ -0,0 +1,4841 @@
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_0.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c862f281d27d634ebbe513c87fd0223ab0ca3790
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_0.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_1.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2df8ba2f3a53706c91d3a82c6bec310b9551a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_1.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_10.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcacf599fc65a3964b0692c627003d6828e56193
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_10.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_11.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed850de9e2ab45e249757ee6d93c2d17c2b2b62a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_11.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_12.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c7533129bd4d706a1547ea58f3341c76e94d0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_12.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_13.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26cc51ed3974f4a1db8d62295eb69844b5e2dff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_13.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_14.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0916b97e91a292992d431f83a20d77a9688e61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_14.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_2.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b53a682c6cf6adce5252da71fcdffb2f271ffa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_2.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_3.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e7b2ea3c31f38afb651330d5922bcfdf77b353
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_3.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_4.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3603b165eb010bf040a6edd226042fbb742cf9d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_4.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_5.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3774597b3fb6428e43d9dd0f1b8fa7cab232f85
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_5.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_6.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57fcb32da70c3f9f4acc8b9c354ab29b2565cc5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_6.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_7.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50591d67ab15631c2dfe9046c8662fe406ea213a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_7.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_8.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7fb9a1307b20318f457ab18a3979b2edd5ae39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_9.obj b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85cc9abb927fc02357ec542f9c287d85d0553bea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/mesh/spoon_021_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/spoon_021.xml b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/spoon_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c0d42b44a2c8b77331f89ec7b2e20903e5d6565
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/mjcf/spoon_021.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.urdf b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be001d5dced0cde126c9409176f23f55382895ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_021">
+   <link name="spoon_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.45</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>56016238e8ae52d6995db08ca2454e50</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>ceramic soup spoon</name>
+         <color>white,blue</color>
+         <shape>elongated</shape>
+         <material>ceramic</material>
+         <description>white ceramic chinese-style soup spoon with blue decorative pattern</description>
+         <min_height>0.0195</min_height>
+         <max_height>0.0195</max_height>
+         <real_height>0.0195</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185344</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051009 -0.018858 -0.010042</min>
+            <max>0.078991 0.018833 0.009411</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_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/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.usd b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0808f1fe56d4faa550f160eed7097b55307da464
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/spoon_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407b0baf4fd22867b1221574391d225b61d3c9dc62feea00b87e6dc4b93f14cb
+size 4888089
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/textures/material_0.png b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77bcc5ad4f214fd9d5180cf97a6ea0223be8a448
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8313287
diff --git a/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/video.mp4 b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..099f47bfab2bed0d7371f1abb03be23f7ac7c8f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/56016238e8ae52d6995db08ca2454e50/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 196425