diff --git a/.gitattributes b/.gitattributes
index 7727d3fb900e014d4595d8fc207f4d9c0bbc6852..b2c6b70fe0a55c5c8933d4141a429c7e9330ac22 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4395,3 +4395,6 @@ dataset/kitchen_supplies/tableware/d8890017ead55bf899b720c2c5c9e596/plate_026.us
 dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/d8b7f7554d5b529eb777a5556f20ce82.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d8b7f7554d5b529eb777a5556f20ce82/mesh/empty_bowl_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.urdf b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc7da9b793f8200b06f1b8d05db76f6fdf7edf2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.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>0.341990</scale>
+         <version>v0.1.7</version>
+         <category>wooden spoon</category>
+         <description>curved wooden spoon with a shallow bowl and ergonomic 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>20260120123655</generate_time>
+         <gs_model>mesh/wooden_spoon_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: the object appears incomplete and lacks a clear, well-formed structure.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.317648887634277</ImageAestheticChecker>
+         <overall>NO</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/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.usd b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6c3c78fd7b8a63bc8b0c94660e701dc1a6781b3e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/da576e7285445c0aae1599016650dbce.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27237165cc5027a7e680819028b48611175c178aded532653cb788a6a1c39be
+size 495458
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/material.mtl b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/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/da576e7285445c0aae1599016650dbce/mesh/material_0.png b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b87fed97f8db6277dd9d6085e6a85a7daa48e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70e753337699832a701a98ec8c1596bfb14bf5714dc362dedd47cf6bd706e7e
+size 1846540
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.glb b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c05b8abd03fcfe41f2e0ec7e89c8212ade4d658c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c3183bbef32b19a58b5837c25332867db1d95afa0c8ce8087bac8b2e302b2a
+size 2181980
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39888447180933e1e4cbc8cbf83e62c95df7af2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon.obj
@@ -0,0 +1,30564 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5071ec931812020f07b5a4fd0c239251d2ad9156
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,8272 @@
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_gs.ply b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f9b8440ddc35583bf15f8e43a2e2eb280d89d4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mesh/wooden_spoon_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23791f07ec7cacf38fbce5bf1c56bd27dbc80654aa5526857ddda383dc3db397
+size 748521
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/da576e7285445c0aae1599016650dbce.xml b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/da576e7285445c0aae1599016650dbce.xml
new file mode 100644
index 0000000000000000000000000000000000000000..335b1e519d00b3925c1e22e2df15b4a1be193db8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/da576e7285445c0aae1599016650dbce.xml
@@ -0,0 +1,54 @@
+<?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" />
+    <mesh name="collision_mesh_0_18" file="mesh/wooden_spoon_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/wooden_spoon_collision_19.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" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" 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/da576e7285445c0aae1599016650dbce/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b87fed97f8db6277dd9d6085e6a85a7daa48e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70e753337699832a701a98ec8c1596bfb14bf5714dc362dedd47cf6bd706e7e
+size 1846540
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601e0f0335130b4d75d120c5ec00ad17a32618bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon.obj
@@ -0,0 +1,30564 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1367d2092ff3eb873b09daaa4cab33dfc834c881
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,8272 @@
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17723c1d21112eb37ec861aa8215e4115f00bc3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_0.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2e29c1dad6b877cecc838ef1b5a62f1b9d7e7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_1.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0201985b6c625a3368bd61fd90fefa916e87043e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9199d53f40e9fdb569bb3eda57184167cf4a08df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_11.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ba901463da0ed44c4d1cf52d0d7a2e7e6d4ab0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_12.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3c6646a13a2528cb02932069bbb5bd2fbeb5c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_13.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13414638cd2afaa41442a64549c998ed390a9e87
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_14.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb08fe93a60b7d5e32745efd648d084af556f2e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_15.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.08043258 0.00023670 -0.02606600
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_16.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2895fe51c0e1790c03c6a60ee6fe0cf329ee0dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_17.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51cbea59d7d6b610c166452147bdee3dbc0b5acf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_17.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_18.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93ae7d6194457074248a53a45a8179f773fde2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_18.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_19.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98c959fdae38805925324078e2a928477958d7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_19.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d251f9e688faba791521e1feff17e2d92af8751a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_2.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030294b6739867a6348bb76ea9d3045e33ecb89a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_3.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462b1d2945e4cef9e86a444a9ab475ecc3d43612
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_4.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7440b90475c9becc58600369848527ed9923e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2333686d3872e4b967495ca2a2fbb11ae5986e29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178ba8c26e4d54594b678bd1fe35b175d767a391
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7033e862bec53fffcfe7e26cc9c15755e7df5e67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fe6128d6567d23d51752b0b5518e11f323693a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/da576e7285445c0aae1599016650dbce/mjcf/mesh/wooden_spoon_collision_9.obj
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