diff --git a/.gitattributes b/.gitattributes
index a80b917d846f28e4572c0df6ab89d92d92b98335..4cbdcfab4bc3fb40fc4d3bc622e00dcbaafed8b6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4297,3 +4297,5 @@ dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster
 dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a1a681bbb5215f2ba1f1c9c4301fc912/mesh/tray_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/a1a681bbb5215f2ba1f1c9c4301fc912/tray_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material.mtl b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b637d7f601869906eeba021307931eafd942047
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd spoon_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fdced32dfbdc81ffa3e670d7aecc63250ec1d42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce82aafbf63a79b428aa074a1129e89bf25a3c95692c5aff6b23c3997b699dc
+size 6310510
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.glb b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3797c10c11d153eed3dd6f5eaf0f1215fd464013
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcaeb12f51a8b8fd9c48ff509da55118413e3a92d1f3035e785e62205cc41265
+size 9749940
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.mtl b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d343ad719089c3d4720d0106e6e1413cad9bd3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764387c7c76c87c93cea7a08feedb41982aeb115
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031.obj
@@ -0,0 +1,104980 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_collision.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252fee92f59775a26b65f5e53091a0567d5ad744
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_collision.obj
@@ -0,0 +1,8057 @@
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fdced32dfbdc81ffa3e670d7aecc63250ec1d42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mesh/spoon_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6310510
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fdced32dfbdc81ffa3e670d7aecc63250ec1d42
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+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6310510
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811363da9ac7c95c097de9fa71c5c47c5dfc37a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeab6efc684ddbce502d1abb1935975716becdc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision.obj
@@ -0,0 +1,8057 @@
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_0.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6aaaf2408366e2e99887aea700285ccf7b668cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_0.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_1.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d180d2e349b7895d6665e7d9f66cbdf2ce85ae4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_1.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_10.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b41b994abc2d452cb20438d0b56e489fe9a5a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_11.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8167ad1eed9ffa6287042f84f3025d8c72e130b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_12.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c056a511e014872f75e6bd85b6890abd0b5e49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_13.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0076d43097d82f3a39dc791f6b46b31f5db9b54b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_14.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958d77bf79ff619443c376491931adec3577638a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_14.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_15.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a577642d23173d00b997f8d360c8c418e2ec0c2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_15.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_16.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b53c2ad53ffb7509883fd77c73fcdfbb56d2bdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_17.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7baaa5e842847ced918994a3ba490918140a3504
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_17.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_18.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5829391886bf69be209339be43e6a735ec128002
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_18.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_19.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5fe93b6e329a292f80f886af37246474a21da13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_19.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_2.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1d0eb43cdb6bc5e77a38990fd86f81e3c7d6d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_2.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_20.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd6506753cc27edf53283b225be1d08ecae2454
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_20.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_21.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488f7d03cb23afea2983ddafa2ca6a8be84c04f0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_21.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_22.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5bf0dd71dbe1f9bd314fb2ce61d6b5afb4665e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.11616365 0.00228642 0.03467150
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+v 0.11616365 -0.00598614 0.03548706
+v 0.12759028 -0.00218819 0.03979551
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_23.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0adf608a90272624f014430ed5a7ca0281ed7df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_23.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_3.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b65e89ad756e44babdf62998b28891735594a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_3.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.07358645 0.02591426 -0.03508312
+v -0.07358645 0.00249771 -0.04152941
+v -0.07358645 0.02591429 -0.04411783
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_4.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5425e9a6699df8deb8a9b299c89d0d51a57162f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_4.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.10283732 0.00008271 0.02914581
+v 0.10283732 0.00220423 0.02913883
+v 0.11220723 0.00008270 0.03288872
+v 0.10283732 0.00008261 0.05803468
+v 0.10283732 0.00666070 0.03016186
+v 0.11186938 0.00393578 0.03302839
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+v 0.11616365 0.00228766 0.03467290
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+v 0.11616365 0.00322956 0.06317073
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+v 0.10283732 0.00277061 0.05922181
+v 0.10529101 0.00659491 0.03113250
+v 0.10283732 0.01005962 0.03195652
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+v 0.10767294 0.00888171 0.03292017
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+v 0.10974963 0.01597959 0.05263336
+v 0.11420827 0.01641609 0.05263336
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_5.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d58ca8e165aa7277a13320616f97a8053069af0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.11616365 -0.01650705 0.05017855
+v 0.11616365 -0.01649732 0.05263102
+v 0.10974963 -0.01648431 0.04826408
+v 0.11420827 -0.01645508 0.04826408
+v 0.11616365 -0.01632029 0.04826408
+v 0.11420827 -0.01643723 0.05263102
+v 0.11616365 -0.01623261 0.05454548
+v 0.10529101 -0.01625532 0.04826408
+v 0.10283732 -0.01620334 0.04586402
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+v 0.10529101 -0.01617572 0.04390065
+v 0.10974963 -0.01594024 0.04390065
+v 0.11616365 -0.01575186 0.04581511
+v 0.10974963 -0.01599548 0.05263102
+v 0.11616365 -0.01558949 0.05699795
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+
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_6.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931c8c6c2df16c8a452b997d391532329c66cfa2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_6.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v -0.03460404 0.01702833 -0.03192053
+v -0.03455687 0.01695313 -0.03192053
+v -0.03469409 0.01702833 -0.03201065
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_7.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69df929752dfab91dc58322fb6acbf3a096a35fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_8.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9aefd5063d884be0305d8c8b3b9ccdc12063ebe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_9.obj b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a7a497d9cb7c24e71ef74fb8401acac2eb994f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/mesh/spoon_031_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/spoon_031.xml b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/spoon_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc5e85249e3a3df78fc848de51f0ece08433bf64
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/mjcf/spoon_031.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_031">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/spoon_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/spoon_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/spoon_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/spoon_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/spoon_031_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/spoon_031_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/spoon_031_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/spoon_031_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" 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/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.urdf b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21706c22f99cec9c6969722cf0592880dd865a6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_031">
+   <link name="spoon_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>1.000000</scale>
+         <uuid>a6ad96dee1d1511f9971d55ab26d2aa8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>gray ladle spoon</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray deep-bowled spoon with thick textured handle</description>
+         <min_height>0.1205</min_height>
+         <max_height>0.1205</max_height>
+         <real_height>0.1205</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154549</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.125505 -0.050608 -0.048782</min>
+            <max>0.144495 0.050623 0.071747</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Handle and bowl are mostly correct, but a tiny blue neck fragment is spurious noise.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.usd b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ec42b2dd4677e3ce3bea1ca907ebb4ee67ed196a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/spoon_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a44d5273ae71ea303e799ea3c85c880e467d5eeefbf942133ca142c12d6d67bf
+size 4973449
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/textures/material_0.png b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fdced32dfbdc81ffa3e670d7aecc63250ec1d42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce82aafbf63a79b428aa074a1129e89bf25a3c95692c5aff6b23c3997b699dc
+size 6310510
diff --git a/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/video.mp4 b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b69078832e7b10e2703dc7f50d4742fa076ec1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/a6ad96dee1d1511f9971d55ab26d2aa8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48d40776b955dfff1eeae95f12d23e4108ce36e12eeab63f6db691e2f472ee0
+size 107065