diff --git a/.gitattributes b/.gitattributes
index b02e87c5863898c57f754579d518466aaa91e16d..16438520c382e2dc0d114ad1e471bfb4d96a676a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4148,6 +4148,6 @@ dataset/kitchen_supplies/tableware/20ab13747ddd5616ae708a7fcb7b361a/mjcf/mesh/co
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/2f803c464abb5a658b303ca92aa44b2f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/mesh/tray_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/33292919909f584b994399d806e7386f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.urdf b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..72fc32cb6097541209d86108f0e040aac4bff055
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="soup_spoon">
+   <link name="soup_spoon">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/soup_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/soup_spoon_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>0.384418</scale>
+         <version>v0.1.7</version>
+         <category>soup spoon</category>
+         <description>orange soup spoon with a curved handle and a rounded bowl</description>
+         <min_height>0.050</min_height>
+         <max_height>0.075</max_height>
+         <real_height>0.062</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260120021553</generate_time>
+         <gs_model>mesh/soup_spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.457035541534424</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.usd b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.usd
new file mode 100644
index 0000000000000000000000000000000000000000..57a41144e42a5ac104672c85076ac660367fe4db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/33ed4f69cf9d5b8e887ee08b7cec9c20.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c22596fcb328e1c60a5195d61710f78dc26acbd42c33b8e6d9f62b1c253dfa
+size 353887
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/material.mtl b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/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/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/material_0.png b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c3a2b07f7fe0487647b0c928ba44f2be007dff2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acdc72d7f6b026d511ca8523b8330f55a5e5aa26364494e42b8ed407585952e1
+size 1259644
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.glb b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..96c0424a369ab88b9bc8923ab371d0de0adce103
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312eccb8da0315436e4d8a88419f7d2907c66bfc9cde36f3bf2cd58a1229b529
+size 1497452
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014afaa82bc40d9ad6a05d325653f2d918cb7a04
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon.obj
@@ -0,0 +1,21624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55fd27d62fc8c1f1e4e75f642173a5cb9c579e16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_collision.obj
@@ -0,0 +1,5091 @@
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_gs.ply b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..658deb911e85e8581e27460aea6494f9e8c5541b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mesh/soup_spoon_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afb6a3629d3d3ead4e0887be696e40c829cec0bc8d1a75ad1f1c4f2243eca09
+size 463592
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/33ed4f69cf9d5b8e887ee08b7cec9c20.xml b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/33ed4f69cf9d5b8e887ee08b7cec9c20.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73ee0fe92e50c3ecff4f702e2e344c3bcfc99c5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/33ed4f69cf9d5b8e887ee08b7cec9c20.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="soup_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/soup_spoon.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/soup_spoon_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/soup_spoon_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/soup_spoon_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/soup_spoon_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/soup_spoon_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/soup_spoon_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/soup_spoon_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/soup_spoon_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/soup_spoon_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/soup_spoon_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/soup_spoon_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/soup_spoon_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/soup_spoon_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="soup_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c3a2b07f7fe0487647b0c928ba44f2be007dff2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acdc72d7f6b026d511ca8523b8330f55a5e5aa26364494e42b8ed407585952e1
+size 1259644
diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2888314071c750fcaa96f87454f392d9f9e66efa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon.obj
@@ -0,0 +1,21624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.010619 -0.004764 -0.011193
+v 0.010786 -0.004365 -0.011349
+v 0.015286 -0.004352 -0.011856
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+v 0.008588 -0.004433 -0.011193
+v 0.007222 -0.004940 -0.010868
+v 0.007317 -0.004218 -0.011150
+v 0.004248 -0.004332 -0.010924
+v 0.015854 -0.004695 -0.011850
+v 0.003534 -0.004887 -0.010755
+v 0.000163 -0.004296 -0.010702
+v 0.017457 -0.005377 -0.011550
+v 0.005523 -0.005309 -0.010547
+v 0.010749 -0.005376 -0.010729
+v 0.001865 -0.005366 -0.010496
+v -0.000847 -0.005019 -0.010588
+v -0.002629 -0.005570 -0.010417
+v -0.005177 -0.005091 -0.010482
+v 0.010026 -0.003628 -0.011408
+v 0.013744 -0.003583 -0.011778
+v -0.006956 -0.005698 -0.010390
+v -0.007827 -0.005946 -0.010305
+v -0.008808 -0.005290 -0.010365
+v -0.009405 -0.005787 -0.010293
+v 0.007701 -0.003578 -0.011225
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523b675a3ff0843e4878dda0217645dce838bcd9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision.obj
@@ -0,0 +1,5091 @@
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a0a673b0eb6dbab9484dc62c4d0a176b67b112
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea5c865d5a8de6ff8f84ff8c45f8aa2b74ece42b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_1.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea5979799d3dcee61ecc3b204ae0886678c8edb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_10.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406057fcffab7adc4f25eb54007c156173f218a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_11.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a2b64e0a7caf3b7305c7d2df6ecc87e98391b6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_12.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413a073f1129535244b19a341f4a21ea1d73567b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e222b4d440aba20c4f3b922340a1cf72872c8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_3.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..259b57248aadd562d626ece38f2bf2e22c597e43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_4.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202bb0da772615e327d6329289a7b226cf7c33a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f751d425295a7e06ac3cfbb65bc210533d0f163a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_6.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a6b03df15eb289c7a3ab9b3c11d85adc55a0be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_7.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b72de45fa3bdc7ef2cd686107b7ae4e4ea0846
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b539291f95c66a4a41520f4ea8d172c997b6956
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/mjcf/mesh/soup_spoon_collision_9.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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