diff --git a/.gitattributes b/.gitattributes
index fcbe8e94c95b63d0ddc3b02184e09bf25a946601..643fb34a55e110a4952405b993c73c79bc1a8178 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4195,3 +4195,5 @@ dataset/kitchen_supplies/tableware/453d423f7a105a5c852ae01720e86d75/tray_046.usd
 dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/47e8588120595db1b2412c76fd250843.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material.mtl b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec535b6cde5704a3662d5bbc4d99b3b8302160c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material_0.png b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99c271830e814fa937ff63edfa92df224275d911
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2c3b325deb7e83fde313010804279126190afb85af414195b1e5832baaf233
+size 7098404
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.glb b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..920da3577e97703395e3f82264ac21baf8655edd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26929dae517729b875c34cef41f0e0d12ec7b1bd8e07858cc84ded62864000ac
+size 10491780
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.mtl b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32b21a2344b37bac298974cd5d75f554bd04f7b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_012_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/40d8999cdd01536e957b48584816f518/mesh/spoon_012.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25cdbb03990a72cf07fc031e68dc62e28ae6f74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012.obj
@@ -0,0 +1,107114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_012_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_collision.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9067be88b122acf37f7b4613e9319710d408c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99c271830e814fa937ff63edfa92df224275d911
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2c3b325deb7e83fde313010804279126190afb85af414195b1e5832baaf233
+size 7098404
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99c271830e814fa937ff63edfa92df224275d911
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2c3b325deb7e83fde313010804279126190afb85af414195b1e5832baaf233
+size 7098404
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a516e049e92ba26d75779cc3f2e6cf20972d0709
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65cb447221299699269710a7ebfc262d8deee0a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision.obj
@@ -0,0 +1,6500 @@
+# https://github.com/mikedh/trimesh
+
+o spoon_012_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_0.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0714475aeb5c6e283390496b40048d1fed25ac1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_0.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_1.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3792facc602601057fe281558e2944da420c18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_1.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_10.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76c0ec735c2269d77b1cf42771c83732dc418197
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_11.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fcda53d0b72cb54f42c6a5c9b53e52c25d63ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_12.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e26fba7e8c2867f746fd9a1eb54f82890cee71d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_13.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d574ffc5fd69921c59498aecb99df9dbfe399dd5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_13.obj
@@ -0,0 +1,742 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_14.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24faa4e384dfdf851f87ebb5983979bb09c9414
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_14.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_2.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a8ffec1b134438f7b16564c9dca906f83d4d45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_2.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_3.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba5a8edede9a109f0cd85bc7c4ee3ca9f1bec78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_4.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e760423d3309c8e917a6a9e87ed93cda10c4cb99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_4.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_5.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fd0b62f4ed332b5630148623aaee592455d106
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_5.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_6.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d8f5947f4fb0dab13c8a3bef07eadcd0501e88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_6.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_7.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35213ff4166a3eff38a2e22944171a21465334db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_7.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_8.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db04ac701ec1a82c20058f2faf3a7206a6075d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_9.obj b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7459895c8b5081f3698b008513849bc7a8826c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/mesh/spoon_012_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/spoon_012.xml b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/spoon_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab7b16e4680a8fc761276a6f9aceaae63e9ab583
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mjcf/spoon_012.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_012">
+      <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/40d8999cdd01536e957b48584816f518/spoon_012.urdf b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0473fef0a4c417ab0d4181cc392b3b86fc20a49a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_012">
+   <link name="spoon_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_012.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_012_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>40d8999cdd01536e957b48584816f518</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>baby spoon</name>
+         <color>green,beige</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small spoon with green handle and beige scoop</description>
+         <min_height>0.0131</min_height>
+         <max_height>0.0131</max_height>
+         <real_height>0.0131</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185102</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070489 -0.014800 -0.006440</min>
+            <max>0.049511 0.014887 0.006697</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/40d8999cdd01536e957b48584816f518/spoon_012.usd b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafb5ea07e29d0cdc91d9c6f42ae47a8dcc30401314a20f5136a820af20a1403
+size 4942655
diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/textures/material_0.png b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/video.mp4 b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/video.mp4
@@ -0,0 +1,3 @@
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+size 82259