diff --git a/.gitattributes b/.gitattributes
index 5f1d13836ac62817126249b9785642f09b32518a..c76e457e163dc948341e0fa115f3023b7936091a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4459,3 +4459,5 @@ dataset/kitchen_supplies/tableware/eed8692e5d045b7bb95162497c49083a/mjcf/mesh/co
 dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/f9e2751ec09a5d4dac818e058dda7d8c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/mesh/fork.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material.mtl b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dafa51979353e983c81834240cde4ee6571b0ab3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material_0.png b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a44e02942a33bba5b7420b429cb3adc1e4a41f02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d651b78f57cdf5b4de3e158f290123531107aea0fd4f5b0b2f0526f31965ae70
+size 7610361
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.glb b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7863f6c1ebc362b40658e5a6b987e82e5b480af9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a6729218b74b59b177a7ae62fc943068a71ede29cc6fb9dc8fff341f3a5734
+size 10990336
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.mtl b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c9ef0289ea1309a05c566dd59d2c6f3d07932e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_019_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/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09ddbc66f65703b5121d282850b988336ca5ae6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019.obj
@@ -0,0 +1,107416 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_019_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019_collision.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b6f5d63feea7c0d3eb4cd1f773f94f2f179660
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mesh/spoon_019_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c06374496a4a135a5a44a5514f2c40e6556302d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision.obj
@@ -0,0 +1,5272 @@
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_0.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a83f6682116296bb16a7d99556dd1fca4fc41c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_1.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b237c0295a72f2439632b7d68481bfb0aed32a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_10.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d8c41f32e208d1adcdfeb098c6741bd5c660f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03844549 -0.00652612 -0.00241469
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+
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_11.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b26aec39eca81e90ee22028fadc1a6d7b75cf5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_11.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.03660100 0.00018641 -0.00712535
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+
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_12.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6908127e22f0f6a5764576028bfcb087b26290
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04293941 0.00018641 -0.00750778
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+
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_13.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34ca82659a0ef8c2898250c5fe57311d049ceab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_2.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a615654feac8f0095595c10f2d6ae95db4f481
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_2.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_3.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34aca20aaa8bc3dcbe4151949212afff9864145a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_3.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_4.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0efc4db612e4107febcde5e9aeacb536aed83be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_4.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_5.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6357310f050444a5b3428f47d02249bf2abaa5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_6.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be9745b6caba11e5bd0b4bfc7141b7d81a9b651
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_7.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0287ef491c27124d6b866eef7cee0cb5fee4329
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_8.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a510d94df434a8d8b7f9ba384c3293d012f6f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_8.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_9.obj b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8878c3816160aa613a5d7885b951f8049fd89821
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/mesh/spoon_019_collision_9.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/spoon_019.xml b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/spoon_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1bb864b678c5077480b63737a785e88b0433eb0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/mjcf/spoon_019.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_019">
+  <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/spoon_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_019">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.urdf b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f85028b66b9e3d74c742d05ab636504ef9feaf29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_019">
+   <link name="spoon_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>fb7123f28d2959e1824570f190310b86</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>blue baby spoon</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small blue spoon with rounded bowl and hanging hole</description>
+         <min_height>0.0144</min_height>
+         <max_height>0.0144</max_height>
+         <real_height>0.0144</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185305</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066325 -0.015750 -0.007462</min>
+            <max>0.053675 0.015779 0.006950</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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 spoon head are segmented well, but Blue is just decorative/noisy handle patches, not a functional part.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.usd b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/spoon_019.usd
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