diff --git a/.gitattributes b/.gitattributes
index bc0643a9bf9d58b561fca99bf27981417524673a..06c88c2ffe612179cad8f29eade23c1d4f3e8514 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4334,5 +4334,5 @@ dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/mesh/fork_03
 dataset/kitchen_supplies/tableware/b72a9b3d36355cc3b6e7d7ab612feafa/b72a9b3d36355cc3b6e7d7ab612feafa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/mesh/tray_074.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b8c6fd93b12b5eb4ab2b1b5b9857310c/tray_074.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/fork_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/bab01ebb334b5526a1a6fc9e2db768b5/mesh/fork_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material.mtl b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..095d2875ed11dd4df7e926bad6e6873eb16398c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a0bd46af10c49613fb4e7d32c0c34500d92d46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4a66b43a04badca6b2c4aa9cb37706742f1b6e1e0cceb0312b3e318a6bba9f
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f79e4fb10651f7aa4dda99a3936ac1092cd4c63d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a7cc34c85ebe2cef499307111d3c94ac8a1d663753a1934bcefc04e53da35a
+size 9231316
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.mtl b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0ff73e55abd0352e623ab4083e710ac538ccfd2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_032_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/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1e683a957c1550bea02faca2e95a70128d237f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032.obj
@@ -0,0 +1,104442 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_032_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032_collision.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b453b9f4583ab0bb1f8bf4cfe365bc06ee7c4053
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032_collision.obj
@@ -0,0 +1,6390 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mesh/spoon_032_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032.obj
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36299aa39075105e177c80134964b930f74c4a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision.obj
@@ -0,0 +1,6390 @@
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_0.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02f8029cb1ca6e62739f8729e48f5303f059ca8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_0.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_1.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc2be66bcdc2814081c53d3adb4303ba7088875
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_1.obj
@@ -0,0 +1,1012 @@
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_10.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79da4f5bcc298f276b418da1dc3d2a1d7742d5eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_10.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_11.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a145762e34b68e964e25505229fd8b147f996a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_12.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1ff1b27a714f6e0c0e9e980a4c4a21dfdcdcd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_13.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d706e44340a2cd9ede9bc38ec6aba069a8174bb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_13.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_14.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf7fcf6773c72b4d12972930923d457d14f9dcd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_14.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.08967895 0.03757048 0.00724445
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_15.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3244249b1b635a7050ffc08f089310f757d8fe7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_2.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d407d448e0b8c877d4d62702b494bd67d8cec9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_2.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_3.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4e5e74562be17382359481560a8263fc4cb388
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_3.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_4.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c486a0079a954c7e6c8c2d219fcb77319ee86e5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_5.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289e52d7c261a5d62ea94c8546ad16642591b1fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.08236042 -0.04408817 -0.00183027
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+
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_6.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c67edb1cf9913b387d79fbd23d36c36867a9b75
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_6.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_7.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e969ddb6ba818ae7f89d4cafff1ba5d6f332f94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_7.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_8.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79539387fd560fec9871c0d9fa4e18ff913fc7d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_8.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_9.obj b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94651d9652958e8401880770beaa1379a08f7ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/mesh/spoon_032_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/spoon_032.xml b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/spoon_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0a110183b1e51fca7b6434cb646cdcef4c0a283b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/mjcf/spoon_032.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/spoon_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/spoon_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/spoon_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.urdf b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..790ec31e4f0b2386bf1adab1f12fb100059efa99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_032">
+   <link name="spoon_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>b9d7c715517c505a8e3cedc40a7542dc</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>metal spoon</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray spoon with rounded bowl and slender slightly curved handle</description>
+         <min_height>0.0611</min_height>
+         <max_height>0.0611</max_height>
+         <real_height>0.0611</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.121416 -0.054908 -0.017806</min>
+            <max>0.148584 0.055140 0.043299</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c6a1927ecf311497d28105d10518bb847e446374
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/spoon_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace7467688275aae0eb1bf8b7b99d344f2d9813adc4be116e614e408786b60af
+size 4882692
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/textures/material_0.png b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a0bd46af10c49613fb4e7d32c0c34500d92d46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4a66b43a04badca6b2c4aa9cb37706742f1b6e1e0cceb0312b3e318a6bba9f
+size 5922622
diff --git a/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/video.mp4 b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..426c8625e265e0a7c910bcb943df79eee70283bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b9d7c715517c505a8e3cedc40a7542dc/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf851104d5f332582dbe3b5c5c2fd7d554fbe9f884df814af75a35c8151e402
+size 105373