diff --git a/.gitattributes b/.gitattributes
index c6729d5b642da6c669e4f9835cdb891be4565304..e316f40c0ec513941caacad0ceb2168c531dcaf5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4217,3 +4217,5 @@ dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_c
 dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5f84369d71c25a4d93d2dca0a8f7e423/mesh/tray_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5f84369d71c25a4d93d2dca0a8f7e423/tray_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material.mtl b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3c66c65e0cfc463bc0a7ee452f495221ddd475c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material_0.png b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa29729d9feb3c85727880691ae3bac57fe6ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255e8da9d15f14ddf0961eebb7896e7bf22d34e4a8ff5088c654810047c6ee62
+size 7099672
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.glb b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..be1061b3587a4a8cef85571f7d248510559b3616
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6af109c2ffc81816bf377c9b0c530c911b56f8f716feaad29f52421f79908a
+size 10500824
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.mtl b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..094173853b56fc21a5ec53f2951d5c761d80f80b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_014_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/617db5de26735349a6be6466f0289eef/mesh/spoon_014.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8699daa613fb8bbc273f231748a63a1d07ae73a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014.obj
@@ -0,0 +1,105414 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014_collision.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43ba50f67f53001caf3b371e3812b06f41831ec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mesh/spoon_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa29729d9feb3c85727880691ae3bac57fe6ea
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014.obj
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+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ec0918a4fd04569a89f392d5f8dc967c46026
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision.obj
@@ -0,0 +1,6612 @@
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_0.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebdc833e583d1ceefae1a0d2bae667e4e973fbde
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_0.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_1.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d875c307fd5713e784a0d748a20f517e4450134a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_10.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173b020525c7c4241a057b578bc15eb53779bab9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_10.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_11.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069159cc0fe86559a001145b4dce8b24c468573a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_11.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_12.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4615bb55c8491b9317fec868bf4f3639d0db2098
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_13.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cc0272c7458cdf1c5ef081c42c3e81019c4133
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_13.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_14.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752f59e30876306ad2ea5370745446dd7fd54565
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_15.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..156f91d62e21853ce90343de0eccaeac4aa3af6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_2.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b41b75fed10302919d66339ae4b73bd37466cb0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_2.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_3.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9480fe9ede4b9861848390c99def0136c37012
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_4.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acebb3a60b3bf83b7917f073a5a1abebe62ca970
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_4.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_5.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f92842d2e68d1ace075c2a27787cf731e7b14d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_5.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_6.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989337e1cf843628c26ab042d75eb5bbaae49767
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_7.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb147b5984e35e18483faa62c03df5dc5e72a5e7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03707420 0.01207450 -0.00243670
+v 0.03831272 0.01204723 -0.00243670
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_8.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e81d2a0606d2f1b5c44f635996a6077fd0b7b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_8.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_9.obj b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b2036a70003a30940c3dc4cea17282bb17aa53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/mesh/spoon_014_collision_9.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/spoon_014.xml b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/spoon_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de8b55017f54399906517fbe6bfa588f53741cf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/mjcf/spoon_014.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spoon_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.urdf b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5de1ce3c6d7da6da531e62952ff1aa2c43842a5a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_014">
+   <link name="spoon_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_014.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_014_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>617db5de26735349a6be6466f0289eef</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>spoon</category>
+         <name>baby spoon</name>
+         <color>yellow,blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small spoon with blue bowl and yellow cartoon handle</description>
+         <min_height>0.0186</min_height>
+         <max_height>0.0186</max_height>
+         <real_height>0.0186</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518185137</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.067632 -0.017687 -0.010100</min>
+            <max>0.052368 0.017943 0.008465</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.usd b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d67cc2e4edd6b11073ee45415fd7ee41a0f15ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/spoon_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d0a276573f8c1121f02dc2b9b1f4e1ec6502abc4c4850ca665d16bbdd23c8a
+size 4944105
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/textures/material_0.png b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa29729d9feb3c85727880691ae3bac57fe6ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7099672
diff --git a/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/video.mp4 b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/617db5de26735349a6be6466f0289eef/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9273623eab707fd89b12f778964b3423101b69f7719d4f1afc2bfb064745c935
+size 91549