diff --git a/.gitattributes b/.gitattributes
index 0f700f49dfe0ceea7f22bdce8424c860a8f5427f..817df64f133f4d751919e392f016efda5edd4831 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4420,6 +4420,5 @@ dataset/kitchen_supplies/tableware/e00dfddffa4c5c44878e2b9fbea1a6f6/mjcf/mesh/fo
 dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/e67a8e0b4b0250f0a99d2e4d43cb55e8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/mesh/napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/mesh/napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/ecbd2adf8f0c5499943777c6930e90c6.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material.mtl b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..944a2712c978b451f5d9dc4d525aaa5ef6ca0df0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_017_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spoon_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eae391cb1dc93c731e5cf58786f58d679a0b488
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24d7c13801ff916bb48f5da776388c1344184ebeef103d9bbe39c42d989c2e3
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.glb b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cc1e53114e3418f37abb8c95f86ace55439591f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839fe28c868bb4386c8dec3718800214f722afc1b20ee62ae8ab5ab690c99645
+size 7745212
diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.mtl b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e0eb309f50b69798fbeb4fcb567d676542c5c38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.mtl
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+newmtl spoon_017_geometry_Looks_material_0
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+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/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..964ebe65532595e761b49082bdbe114fb9c66d6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017.obj
@@ -0,0 +1,107418 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_017_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017_collision.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642b2cdada7102e733c18a259b493044bb77d60a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mesh/spoon_017_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/material_0.png
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+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017.obj
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index 0000000000000000000000000000000000000000..969c87887f01c0480ec957023316dea2dcb73298
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+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017.obj
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c56b748deeff00cd4a0ba1cde567f110f38aad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision.obj
@@ -0,0 +1,4545 @@
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_0.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa845a9ca0839c52685747dbb788833bbc0d2a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_1.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30bddba8fd393801f8e8c018b56578c66d840b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_10.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a3a4ba4999492c016c3c02630446bea0bf6df0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_10.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_11.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b8aeb220276357d36e051bba22ca287bdd1dca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_12.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8d9394c2f04b859a547f5c5c25b2dd626acb3b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_12.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_2.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69dd2dc0e4c86101f38aef5d7688d93f770aa0cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_2.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_3.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63eb9f820b862087fa85ee6eadd496165de38006
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_3.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_4.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a6843c5c1185b55c8f116eede182b0883ae5736
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_5.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c5bdfebf835d6b963564f40419625b80b9f59b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_5.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_6.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a9d85ad2d3dbd995a01dea105c059de5598967
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_6.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_7.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234f6720066ea6180104d341dd44f878e390055c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_7.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_8.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b59983189dadcd01887b33f1d3135c6ed9e089
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_8.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_9.obj b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578c01265981445a29b648501b40ccc79e96a85e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/mesh/spoon_017_collision_9.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/spoon_017.xml b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/spoon_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f4287900f1b39b04973456dc97e9a4e21b07c39
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/mjcf/spoon_017.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_017_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_017_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.urdf b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae40eed6bf7473df5eeb3d61cfe68581c314fd29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_017">
+   <link name="spoon_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>e91b2716f7e25fa781321cf315908235</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>beige spoon</name>
+         <color>beige</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>plain beige spoon with shallow oval bowl and slim handle</description>
+         <min_height>0.0126</min_height>
+         <max_height>0.0126</max_height>
+         <real_height>0.0126</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185229</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047159 -0.013914 -0.007942</min>
+            <max>0.072841 0.013874 0.004670</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/e91b2716f7e25fa781321cf315908235/spoon_017.usd b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/spoon_017.usd
@@ -0,0 +1,3 @@
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+size 4900287
diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/textures/material_0.png b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/textures/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/video.mp4 b/dataset/kitchen_supplies/tableware/e91b2716f7e25fa781321cf315908235/video.mp4
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