diff --git a/.gitattributes b/.gitattributes
index ee851a9014bed642feb603412ce084faa899c747..23513b025dfd6bafe57654c7ab720503d54ec1fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4559,3 +4559,5 @@ dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/bottle_opener
 dataset/kitchen_supplies/utensils/92587ec9e1c55c8a9dc3eef59376920c/mesh/bottle_opener_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/mesh/spice_jar_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/97c069050fd35a13aed96b8f21259d78/spice_jar_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material.mtl b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bef9c60640a3c99267037ff1cf2e231098c2d753
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spatula_019_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 spatula_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material_0.png b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21dc5014f2583eb8c2070e5196a0431390aa4adb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620c593929e0a04490a071adc2422f4d5678ed6acb706b30304ec2c350146a00
+size 8775474
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.glb b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..80a25249e368addd4188938e463a37bb1516675e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92a7916689768a29df280e7d611af31182e3dcc5ab50ec69fd7d317696749553
+size 12128672
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.mtl b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d07e04eda174a2a23d725538b9ddbee07392857
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.mtl
@@ -0,0 +1,6 @@
+newmtl spatula_019_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/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38428f5a5446cf30d0186c30750184a387d20fd3
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019.obj
@@ -0,0 +1,107942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spatula_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019_collision.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785ef50ef5a608854e7cbda889f8da4a9398fca7
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mesh/spatula_019_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9243fe169ad1aac9d9924174aeb9d45c45fe6e6f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision.obj
@@ -0,0 +1,5230 @@
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_0.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe09ddfc3cbca59c8d18e136ed8937b8557f0e56
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_1.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6264cccfbbbc0b423456ab0f753e9c03646a548
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_1.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_10.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1022c9494b9629909cdc6f356376d3402e1ca33a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_10.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_11.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2297e024cac8ead2de4d80d0468518a553448534
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_11.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_12.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..773a94d795ad9932157a9f0dbd10f9e479df0627
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_13.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b98bcc38438b8a2f096433ec9d16bc14782584
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_13.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_2.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7b06058878a7380f58c34cc085deb3195d2db5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_2.obj
@@ -0,0 +1,955 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_3.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33d14d0717fae85c5cb4f240472308dca8ff7c2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_3.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.06158174 -0.01029345 -0.00992825
+v -0.06257169 -0.01403649 -0.00863762
+v -0.06257169 -0.01029345 -0.00990482
+v -0.05629190 -0.00641385 -0.00901248
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+v -0.04571655 -0.00646603 -0.00894609
+v -0.04044187 -0.00648598 -0.00888166
+v -0.04044187 -0.01029346 -0.00950650
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+v -0.04044187 -0.01330599 -0.00809676
+v -0.06257169 -0.00660875 -0.00871374
+v -0.06158174 -0.00656118 -0.00882699
+v -0.06257169 0.00038314 -0.00419159
+v -0.04044187 0.00038312 0.00053947
+v -0.06257169 -0.01502791 -0.00097187
+v -0.04044187 -0.01376640 -0.00496680
+v -0.04044187 -0.01384469 0.00005714
+v -0.06257169 0.00038310 0.00566690
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+v -0.06257169 -0.01478543 0.00001613
+v -0.04044187 -0.01338431 0.00434887
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+v -0.06257169 -0.01384316 0.00255056
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+v -0.06257169 -0.01029351 0.00473353
+v -0.06257169 -0.01085520 0.00455585
+v -0.05387226 0.00038309 0.00772295
+v -0.05654101 0.00038309 0.00719966
+v -0.05403256 0.00038309 0.00769366
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+
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_4.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d07e6edae8cf2f70d649789bc74ae894646bcb21
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05629190 0.01052021 -0.00973230
+v -0.06158174 0.01052021 -0.00960667
+v -0.06257169 0.01162184 -0.00957381
+v -0.06257169 0.01511920 -0.00925490
+v -0.05100639 0.01052021 -0.00972457
+v -0.04044187 0.00722358 -0.00842386
+v -0.04571655 0.00729160 -0.00839487
+v -0.05100639 0.00733640 -0.00834269
+v -0.06257169 0.00038314 -0.00419126
+v -0.06257169 0.01048370 -0.00945592
+v -0.05629190 0.00740940 -0.00822479
+v -0.06257169 0.01595206 -0.00779763
+v -0.04044187 0.01405240 -0.00866543
+v -0.04044187 0.01052021 -0.00961633
+v -0.04571655 0.01052021 -0.00967818
+v -0.04044187 0.00038312 0.00054001
+v -0.06257169 0.00038310 0.00566749
+v -0.06257169 0.01733242 -0.00495849
+v -0.04044187 0.01503126 -0.00495849
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+v -0.06158174 0.00038310 0.00600571
+v -0.06257169 0.01663558 0.00010328
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+v -0.04571655 0.00531723 0.00913672
+v -0.04544361 0.00038309 0.00917149
+v -0.06257169 0.00531724 0.00569843
+v -0.06133046 0.00038310 0.00606563
+v -0.05674680 0.00531723 0.00719048
+v -0.06158174 0.00531724 0.00603472
+v -0.06257169 0.01440575 0.00370970
+v -0.06158174 0.01443396 0.00380441
+v -0.04044187 0.01330575 0.00781478
+v -0.04044187 0.01430122 0.00510319
+v -0.04044187 0.01050521 0.00901884
+v -0.05100639 0.00907009 0.00794811
+v -0.05400657 0.00820736 0.00768720
+v -0.05100639 0.00531723 0.00825154
+v -0.05073128 0.00038309 0.00828051
+v -0.06257169 0.01052015 0.00528678
+v -0.05667748 0.00038309 0.00717307
+v -0.05654101 0.00038309 0.00720013
+v -0.05403256 0.00038309 0.00769490
+v -0.05410188 0.00531723 0.00770652
+v -0.06158174 0.01052015 0.00554770
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+v -0.04690362 0.01263382 0.00733740
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+v -0.04537212 0.01074743 0.00825349
+v -0.05597780 0.01017174 0.00670733
+v -0.05100639 0.00038309 0.00823413
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+
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_5.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54ab41a3c3daf6d6cc90937e5a8818f1f7307c72
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_5.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.09747782 0.05549994 0.00303530
+v -0.09579069 0.05490662 0.00267075
+v -0.09747782 0.05585808 0.00247592
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+
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_6.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18930adadfb9610a7b53a872ddbd07a06386eff5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_6.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.10890712 -0.03657554 -0.01817257
+v -0.10919009 -0.03908255 -0.01762140
+v -0.10919009 -0.03657554 -0.01816741
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+v -0.10621887 -0.03908813 -0.01762655
+v -0.10919009 -0.04168446 -0.01596271
+v -0.11191100 -0.03896529 -0.01755958
+v -0.11245518 -0.03657554 -0.01776047
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_7.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d0e96f1154c4edd9f0744c7112c4faf4c879f4
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_7.obj
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_8.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eaa6b03eac23bd483dc2d6ae433930a3ee6dc49
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_9.obj b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684b306f7e60760ccde9a6c0bd5d8f172f59e0e5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/mesh/spatula_019_collision_9.obj
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diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/spatula_019.xml b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/spatula_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..17864c08041351c4c352aa660a6a776ba408fcf9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/mjcf/spatula_019.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spatula_019">
+  <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/spatula_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spatula_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spatula_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spatula_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spatula_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spatula_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spatula_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spatula_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spatula_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spatula_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spatula_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spatula_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spatula_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spatula_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spatula_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spatula_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.urdf b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db0ab3bdfed122cd498b5981c0197761b4296296
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spatula_019">
+   <link name="spatula_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spatula_019.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/spatula_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>9e268269ac0d58cf8ff6b4dbdfa5de42</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>spatula</category>
+         <name>grill spatula</name>
+         <color>gray,black</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>metal spatula with black-orange ergonomic handle</description>
+         <min_height>0.0648</min_height>
+         <max_height>0.0648</max_height>
+         <real_height>0.0648</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518190345</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.208766 -0.055171 -0.029635</min>
+            <max>0.111234 0.060737 0.035122</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.usd b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/spatula_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db170fb802ececad0b329d5716395f3aa8e5cd5a84820a3f283458a9064fe458
+size 4919215
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/textures/material_0.png b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21dc5014f2583eb8c2070e5196a0431390aa4adb
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620c593929e0a04490a071adc2422f4d5678ed6acb706b30304ec2c350146a00
+size 8775474
diff --git a/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/video.mp4 b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6850747f55fb66e60e0fd19c24d76f65788b895
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/9e268269ac0d58cf8ff6b4dbdfa5de42/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7262c13e43d8e37d9920008d0eb23c2506ff73c37cd6cba0daea67177bb722
+size 134241