diff --git a/.gitattributes b/.gitattributes
index 17989d15e948f636762d78da607619aa9ff648e3..291bb03b97e4a57737ce316312a4f8ba7758405e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4199,3 +4199,6 @@ dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/mesh/spoon_0
dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/spoon_012.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/mesh/plate_030.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/plate_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.urdf b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7723822587752d3eede19b0ab8ea4cff905aa2fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.urdf
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+ curved wooden spoon with a smooth handle
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+ 0.1
+ 20260120125211
+ mesh/wooden_spoon_gs.ply
+
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+ YES
+ YES
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+ affordance/affordance_annot.json
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..07c5b9b7ada3e2780107c213ad9c1d748baf8e63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/4b290484be7c5f7e96e0a8e764feb8a2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c90be98da14d5201df95f5e7a1470e0ad954f98dd4be407f801cf10c1ae81ab
+size 465272
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/material.mtl b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/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
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c45c90dcda12991dd7a1a63468d60e6119b37c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..77c5fecf22ecb72080cb53a07fb4a0d90f9fe1d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fcb73e38845629e1d386b6cee60e393eded79b4acdf531c39e9c2afaaa1bb9
+size 2310152
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07fd26be2101f15fd0c6876200ea0ab1a91d6933
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon.obj
@@ -0,0 +1,28526 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9bb50c679db131427ddaede21e2ca8986961b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,7504 @@
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb9e527ca0d787f684b4ee1e39b253d317cbc17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,7504 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e413e2829ae7562e00a9755322fae0f779f1097
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_0.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.01756130 -0.00436123 -0.00274271
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+v 0.01904324 0.01894683 -0.00288541
+v -0.01756130 0.01168812 -0.00115252
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+
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f356762dccd19d451d915ccc359a70bdb5f00da
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_1.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e260137417cc2164a316cc01a0211aa126d2eaf7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_10.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0c3ddd011c619d0b6cd32c1a3ff553b09791ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_11.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2863a0134c76d1bbe05aedcb9689e072591cd686
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_12.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b303fcd131a5525e4c3a2bfb6c200ddbd1899fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_13.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fc3a0aec5d0a3dd0c6f44297a7fa26896df0a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_14.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc9e09cb4f0c19b8b04229452f791bab5370297
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_16.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3042371af3edfec7610fbee18155dbe1700a2b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c3ec25dc13d0cd85607be83241d6629318e4ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e351fcf1a1eda64ae1154e55fb8c50c4704d16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e5f893e2c6772d4ce4502188d7580af9cb1aec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eba88f997e3ba8989de7bb85ecef7fced0c532
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b81846b4b992fbf7282717ce29e455c216387a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_6.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400c9acf032f307748d5f985838a325cafff69ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5066d6b770a89baa1af142f15bf5fc7a2fefd0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_8.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d97bebb8dc66d21212d0296cc980927b7a8533
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4b290484be7c5f7e96e0a8e764feb8a2/mjcf/mesh/wooden_spoon_collision_9.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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