diff --git a/.gitattributes b/.gitattributes
index 8a46d0243df5a39d8db1d6f1e89c7bc6f38d346e..d10e29a69637dd1bb5de31a0eb9e08cedbd924ee 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4179,3 +4179,6 @@ dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/mesh/tray_gs
dataset/kitchen_supplies/tableware/3d5a8cad7c3c5a80bee0960d34115c25/3d5a8cad7c3c5a80bee0960d34115c25.usd filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/3d5a8cad7c3c5a80bee0960d34115c25/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/3d5a8cad7c3c5a80bee0960d34115c25/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d76102a6287e82965545d7d8120a4188d1f0d13f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf
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+ v0.1.7
+ wooden spoon
+ curved wooden spoon with a shallow bowl and smooth handle
+ 0.04
+ 0.06
+ 0.05
+ 0.05
+ 0.1
+ 20260120124239
+ mesh/wooden_spoon_gs.ply
+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.usd b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fe71eec9668692f9ad6844177ed7dbf684609e92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825f05d2c86177942c72ae38d8ec1666638f127662b357a7916687d4e0ac9713
+size 528608
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/material.mtl b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/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
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe54a9d270e433f38a285c6a517e612f94f89bbb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e88ff74282484d81f4637c69d7eaab75a2e07f008d2b43062d1a674f529e7d
+size 2133965
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.glb b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f286c8b8b579f0506ce5618d8eae544984025d45
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b0577563c7d1520e6f9c340f019156128202cb7c020eb4c3ccf6111ab9c0ab3
+size 2489480
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62436efb1b379146f866df6d93d17c15a9e9079
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon.obj
@@ -0,0 +1,32378 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed52201e14877dac81e59d8411f83cd86898b5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mesh/wooden_spoon_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/4285923262625b18925a13c446d3f4cc.xml b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/4285923262625b18925a13c446d3f4cc.xml
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2133965
diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon.obj
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index 0000000000000000000000000000000000000000..f5078c830d651128f63660031bb9d912a878c701
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f914a85241d1b4fbad26b9ec3fc4823e9d6a5ca9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision.obj
@@ -0,0 +1,8828 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_0.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c27141702231b70dc31c4c8321c85fa45201a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_1.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cacd4dac0ef0e1933b24515b98730514cfe6adb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_10.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9bd20fecb296a726c448b5681318da5eb5b025
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_10.obj
@@ -0,0 +1,505 @@
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_11.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c52fcb189960bb778f032a2d4906c9dcfc0549
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_11.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_12.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3cd78638c4acc15ae8aaddc9c927f126e9ba59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_13.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2653f198484cdff1c96e7cf0189b6db198cab644
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_14.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4001bc0a41da2dafd5df2f14476a73af77fa27
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_14.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_15.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5280123389ddaa653effeeeb0fb6d235322817cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_16.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3b929590419afa04458e1e85dcdafc73176869
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_17.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09785d34143b23a4c54a6f0c1c295c1d4f73a74b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_17.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_2.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11193385a19e5d8e50f0a981fa95590ae6c9bd2f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_2.obj
@@ -0,0 +1,724 @@
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_3.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483d9ecb0285db1567bae0f6a272c6b6cdc3595d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_4.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d857962c72cd9fbfd0ebecb9faff635e347a8e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_5.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e810abdef21ca717aed5b064622ef82a2ff1e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_5.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_6.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d94e24f5c0ab27e2470b0a184e110f031a88a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_7.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a453dbed4ee9f7fb54f9ae6aac848f88df3ea56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_8.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb762fe333d02df81907e1798c3f15ca8903ddd8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_9.obj b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/mjcf/mesh/wooden_spoon_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/video.mp4 b/dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/video.mp4
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