diff --git a/.gitattributes b/.gitattributes
index a85acc47be02b8a6d57b0b5dfb50aff41487f740..8adef4a1e39d1c0030e99df9c144a3b81fccbc97 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4356,6 +4356,6 @@ dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsti
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/c913719d666b52bfa431ee70ae5ca112.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c913719d666b52bfa431ee70ae5ca112/mesh/red_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.urdf b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e312ef85fd5a3fd34bd8f3f6a7017be222c0373
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="wooden_spoon">
+   <link name="wooden_spoon">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_spoon.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/wooden_spoon_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>0.240821</scale>
+         <version>v0.1.7</version>
+         <category>wooden spoon</category>
+         <description>curved wooden spoon with a shallow bowl and elongated handle</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260120124554</generate_time>
+         <gs_model>mesh/wooden_spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.520620346069336</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.usd b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a3d51b343c559915150af0a3f171a3a0b3ab264f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/c640b09ab97458c59a796c8cb3d26a16.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649c2ffc8781e3ef8079da37f9d89ad2e301cbb1c086cb215d27ef9ffc51ec64
+size 552384
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e83d542af781955ac71d66ba48422a7b269e052
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c77a55d5ef59a5c89743e8217b358d6c240178469aced8235e67affb7894de2
+size 2048151
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f9597341f595cf5d64bd5ca47225de9d9580e151
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c675f7000ebacee586dbd5157be774fa5e01d43681b002e41d2e3d5f39626f0a
+size 2423096
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ea0c1bb75637b6adf669cc00635d2bfb634549
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon.obj
@@ -0,0 +1,34188 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09a4b56b4e4fdfc473f1ee0b6cf49619813cf6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,8504 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4fd0b7942a817b63f2ad692538095fc84846f72a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mesh/wooden_spoon_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4350c1ecb1b9ddbcca503ce9fde09bf6005526b394b8e5520a0ba9ac5702fee5
+size 816393
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/c640b09ab97458c59a796c8cb3d26a16.xml b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/c640b09ab97458c59a796c8cb3d26a16.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ce9f17e477601ef2efa01c13401a3d8fc3ace6fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/c640b09ab97458c59a796c8cb3d26a16.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="wooden_spoon">
+  <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/wooden_spoon.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/wooden_spoon_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/wooden_spoon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/wooden_spoon_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/wooden_spoon_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/wooden_spoon_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/wooden_spoon_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/wooden_spoon_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/wooden_spoon_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/wooden_spoon_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/wooden_spoon_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/wooden_spoon_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/wooden_spoon_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/wooden_spoon_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/wooden_spoon_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/wooden_spoon_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/wooden_spoon_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/wooden_spoon_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/wooden_spoon_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="wooden_spoon">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" 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/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e83d542af781955ac71d66ba48422a7b269e052
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c77a55d5ef59a5c89743e8217b358d6c240178469aced8235e67affb7894de2
+size 2048151
diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfcdf46bf3bda1e5621ee9a5c4b29913e0303ff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon.obj
@@ -0,0 +1,34188 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.018170 -0.036674 0.010226
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b65f6002f29ff1c45a9e38586a69ce550a55d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,8504 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c57c002af39ba7cd3d045846cfcfed713e3c7d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_0.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd023064d5e34735c80374852e901c3d6cb8930f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_1.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29b7259560ed64ad4846d02a79997989ad6694c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_10.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v 0.08002375 0.02120187 -0.00895949
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd114233fce0b8d0eb315446cb2384635f9aa25
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_11.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33997d0bb0f08294d69da781825d85b6d1620968
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_12.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d7095a9e4cd2fd783a2376ecd035579414bd20
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_13.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30031a67529f1d235c176addc3a23495fbda2571
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627246734cd22ef104086983b82e8a011c0855f3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_15.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_16.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b4236acbbb43c2afe9c13eccd110a451b4d0ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_16.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_17.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b120538eda07d2e7a3b3dec44c0a95d2afa9e6e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69bc05d5c00d54230d74ba428ecb3465a825666d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f624ff070075a13e326b5b94e652901eedfe45c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855ab9be68956cb3ca5a7d41bb3592fefb39a6ae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4532f27572efd5345c3b7cf82e2b32fd55a9f943
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_5.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee425a0661e9e35904e30e2343412413594321ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_6.obj
@@ -0,0 +1,643 @@
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa3441a5dff0393b121d024845309c51843a76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3640caef708826fbca05cd856d0eab74ea20972f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/mjcf/mesh/wooden_spoon_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/textures/material_0.png b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/video.mp4 b/dataset/kitchen_supplies/tableware/c640b09ab97458c59a796c8cb3d26a16/video.mp4
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