diff --git a/.gitattributes b/.gitattributes
index 0742abf44bd1b819c5ecc3862555c004204cffab..4a7ea39986ca6dbd3e6cf6caab514c569352c089 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4167,5 +4167,5 @@ dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork.gl
 dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/mesh/fork_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/mesh/tray_053.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/tray_053.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/39ec8df0a6e0538482d30776eb7165ef/chopsticks_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/39ec8df0a6e0538482d30776eb7165ef/mesh/chopsticks_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material.mtl b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27304175124eda35f36cf444dfa89a7768534b28
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9abb40fb33e5ebeb1aac973a9ca03971876fee1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06edbdeb09d463edb64e0ea8c88f9e0847403ad5940f0f2cd528c2757f5ca1ad
+size 5844866
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0a18a196a4a9d86accfee4e8adaf5eab965bef77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:973ab1de26108a31c8a8104f6277dc3640af12a7a36ec8deb22d5f773cf0e8b2
+size 9159484
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.mtl b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..20121e8328a19e5033a819ccfced923ee2f4f14e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_004_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/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8988716b2b89b349e93532bcd0e9950968baa36b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004.obj
@@ -0,0 +1,104088 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_004_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_collision.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9bb14f87ce40bbcd902b706ccbf92cf6c01f8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_collision.obj
@@ -0,0 +1,7766 @@
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9abb40fb33e5ebeb1aac973a9ca03971876fee1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mesh/spoon_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5844866
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9abb40fb33e5ebeb1aac973a9ca03971876fee1
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+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06edbdeb09d463edb64e0ea8c88f9e0847403ad5940f0f2cd528c2757f5ca1ad
+size 5844866
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004.obj
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index 0000000000000000000000000000000000000000..d5043d541b9eb79b9906c3535af2e0837cbfbbb1
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+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f1ce50ca71922439091ee67ca56e6a6d5284e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision.obj
@@ -0,0 +1,7766 @@
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_0.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046353de2e4d7d65eb7536d967a9a62e3ee5f08a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_0.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_1.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed7c9b8c0bdb78aa785621a434ef4b4d75f6dff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_10.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3239f105239982019640876691d5e6dade341c5d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_10.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
+v -0.00358919 0.01523056 -0.00028142
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_11.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cea546ecfe7706373fd6b7215dbb843880d1555
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_12.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abae61dd8f3fd9dfda2b84c3d4228f76f61422cc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_12.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_13.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2971bc1eaedb3de9523cff9e1b2a3f99406389a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_13.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_14.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca2a428bdcb2dc8f851f6606f4ca8996375478a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_15.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a1ace8b918a3ebb1017c63742f57e38cd656d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_16.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973c7225e725a0bae68e887a888318dcb7c18532
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_16.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_17.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09c67d10b0fb7b210fa0dc6e3154c59df8f7828
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_17.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_2.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92224f2f1f912fc3b3009b948ac173632de4a33
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_2.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_3.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5216c8fd0bcc5328d1623dfeab3d239bb619783a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_4.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb88f59cf233d1b23bd68f0cf551ab4d234fd37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_4.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_5.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7843e184fcb1f4dc9a795d0f4cb127f49a84f6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_6.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99765ba26f4c33876f85852f9dca77e4121eaa73
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_7.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33205355a0684cb547f2842cde925082c8221e3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_8.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d8471b25aebed4f4b41bfbf65eadf83094babc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_8.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_9.obj b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df0fbf22d3f14403f5eb21f10e07c1d5c44a0a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/mesh/spoon_004_collision_9.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/spoon_004.xml b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/spoon_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ad71722a361677dd09f47f8a232197b0d91a9ab6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/mjcf/spoon_004.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spoon_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/spoon_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/spoon_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.urdf b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2bd837b4f0ee748584d601a36541e2171f98e9ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_004">
+   <link name="spoon_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_004.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_004_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>1.000000</scale>
+         <uuid>3bc6b2237feb5262bf4c010eebdf2ccb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>gray spoon</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>curved gray spoon with a smooth surface</description>
+         <min_height>0.0292</min_height>
+         <max_height>0.0292</max_height>
+         <real_height>0.0292</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012417</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..64189557f71b79f309d11cdc6e59d168c2fb21e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/spoon_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a03467cfa4ea6fef1d5165aac3f450071605f2864dbf88025d27d4c3df06f6
+size 4896559
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/textures/material_0.png b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9abb40fb33e5ebeb1aac973a9ca03971876fee1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 5844866
diff --git a/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/video.mp4 b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed0720e9f2a12a89ff0abf89823acbefed03b4d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae7f7bda030b3b2a381636eb40b18f6edf4a1e093b57ed3716c108ad01dc0db
+size 67034