diff --git a/.gitattributes b/.gitattributes
index e4b89fef2ad3dc9f9d41ba14a0d30fae05f83098..cf8c9ea53244f6145ca128c19f94bd3848d889c0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4353,3 +4353,5 @@ dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/mesh/spoon_0
 dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/spoon_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/chopsticks_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsticks_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..726bf4e7194ba11f80b09a581dd83d6b319bbf5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19b172ad70b55b61394d917a91a0428117c20c2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2b722b002fb7aa5ef45c79aa3be71f2246efc6a98cbf27fc0bd9659ce5d74c
+size 5789732
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.glb b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bf4c8b7c413e17de730dfe9a9b1dae647788418d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c845a6d7a321a44711754b4349ddbdfcdbdc1d0673752d08c9e83afbab330d3a
+size 9121772
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.mtl b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09cdbc9a7d9f903f2fd15dfa8017e4dd0f268f1c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_018_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/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f953136c44f7b1b389108d6f142e438f7c03dbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.obj
@@ -0,0 +1,108452 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_018_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_collision.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96182eb867d38654f3bfad5b2e6f8f08717118c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_collision.obj
@@ -0,0 +1,4579 @@
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19b172ad70b55b61394d917a91a0428117c20c2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 5789732
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19b172ad70b55b61394d917a91a0428117c20c2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 5789732
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662bfebab6c2f424ab002624a6d1825199cfb734
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c778f16501d3af23aec757542debfaaa4b8afafc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision.obj
@@ -0,0 +1,4579 @@
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_0.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c630751d4d06113cd943bd528988780e313f08b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_0.obj
@@ -0,0 +1,1336 @@
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_1.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92007c775e5105aa36853213c0e1355f4159d1ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_1.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_2.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..876db52a26ee0903b954f7dceee1a63897e0c403
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_3.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cfeb2c1e0e114675f175674e71eaa3288b13deb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_4.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305bbe57a6d98ccf996e4955e8497258cb9835e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_4.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_5.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536d5a91916fbddddd87d7726f05d53bbbf7c886
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_5.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_6.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9036be64f3db3f3c27d8a9adbdbff40e23cbff80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_7.obj b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3912b79c1bd55bf6f0d420d63c14c858dcd1e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/mesh/spoon_018_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/spoon_018.xml b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/spoon_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..93f5b670f2f49f6c74fd5c04ea34ecab8f351a8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mjcf/spoon_018.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_6" file="mesh/spoon_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.urdf b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6abb4ab17648d566cb4752f962d6fbae3b8d29a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_018">
+   <link name="spoon_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_018.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_018_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>c2d098d9273c5effba42767fc9162790</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 rounded bowl and tapered handle</description>
+         <min_height>0.0125</min_height>
+         <max_height>0.0125</max_height>
+         <real_height>0.0125</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185248</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061810 -0.016872 -0.006973</min>
+            <max>0.058190 0.016593 0.005527</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/c2d098d9273c5effba42767fc9162790/spoon_018.usd b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9458516e94e43d64efe5542cfc3d3d3bf3592d84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868155672047ce7af4a7e390b8496665f322544e56d197b893a80d2500b2793f
+size 4907194
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/textures/material_0.png b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..19b172ad70b55b61394d917a91a0428117c20c2c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2b722b002fb7aa5ef45c79aa3be71f2246efc6a98cbf27fc0bd9659ce5d74c
+size 5789732
diff --git a/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/video.mp4 b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f659f893ac6c7ffbc74a5f3a889df19cfcef96fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:244b00d7621410a3ee880ea02a3a87cbe58d3e6b88ac4dcefb45e87deb1408b9
+size 63663