diff --git a/.gitattributes b/.gitattributes
index 89491d96b98eaee9a4628eb12e1b7c32fe4dc7ad..fdae716da65a1bd27fdff0cb45951b841eff6a12 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4239,3 +4239,5 @@ dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_c
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/85aa0ecaa5e75c9c80f4b6226505ae04.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/chopsticks_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/86ee5efb6e0c5a9ebf98d5f1bb1eee82/mesh/chopsticks_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material.mtl b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd3c2b04b00191cf98a77666d08a749824f9514f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl spoon_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material_0.png b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d499b75ef7dd8727570cc33a8ac14e522ed90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bcaa512ead6eb98e1dcaa1dacc4e551fa54a68b8c23ce23ffd646eb574f748c
+size 4572642
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.glb b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2b2fe2427747534fecabeee20111345af02f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d899c8e4fee203962f8201e31a8cb2cab205f896f7ed094484c011b1500062f7
+size 7817100
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.mtl b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f94ee1b8f6352bb1b19208a5b207b8c3d614776
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.mtl
@@ -0,0 +1,6 @@
+newmtl spoon_002_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/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dd5b4e3a447141d6eb24fce9106f110efa7de1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002.obj
@@ -0,0 +1,104600 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl spoon_002_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_collision.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2130301492a83d6422aecd1f74acf473c0f7d885
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d499b75ef7dd8727570cc33a8ac14e522ed90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mesh/spoon_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4572642
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..2f2d499b75ef7dd8727570cc33a8ac14e522ed90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bcaa512ead6eb98e1dcaa1dacc4e551fa54a68b8c23ce23ffd646eb574f748c
+size 4572642
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002.obj
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index 0000000000000000000000000000000000000000..b0f3f2e9297e6a337cf017dbd480dd12478b5e97
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d24806adf25c87de1f912284ba82500447139f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision.obj
@@ -0,0 +1,6495 @@
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_0.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56574c897a7a29f1f7ee76b9c70a4a04293dd265
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_0.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_1.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c142c7f660eb63f25ca2a9a0dbbf75af4f5427a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_10.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a673fed388f754232371381dca819cdbea8c1b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_11.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427efd4263c0a50709bdac7f7c6e8368bcd1dee9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_11.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_12.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d6b676441ac01eec18eed7ac8f1cdcee5d57bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_13.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10e7123cc3cdbcdb1545695450685fef90916a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_13.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_14.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba9e8bbfce63e73e791103828cd6db7ee61c3c9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_14.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_15.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bcd655a1cb36a2eb8a752bf58862f992053d046
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_15.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_2.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06d2a2ead2597674d7ec862dd92c63f54446117
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_3.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f219989cf1e6c9de7e602f26d3ecf9527978cf2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_3.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_4.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c77a6d82e3621b47915ed2e870e246690f39618
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_4.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_5.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65443dc9440752ecbd3c4900e27737d2a4dda05a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_5.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02254599 0.02920572 0.00749908
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+
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_6.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0c3dc6ca158e22d7e1de77b5b1f50f9c1e28828
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_6.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.04315372 0.00065347 0.02474319
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+v -0.04209096 0.00454600 0.02435891
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_7.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7122a3fbe2d36276d0a04270f50b69758de3f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_8.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d337b6ccd2cbfff3614f6fb3b268d32f5fba67a7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_9.obj b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a59d775c2a3f33d7224e08e7fc3e43ddbbe8d11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/mesh/spoon_002_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/spoon_002.xml b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/spoon_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c270b2fcccb33e59e5bb616c174e49a1a4afa50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/mjcf/spoon_002.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="spoon_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/spoon_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/spoon_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/spoon_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/spoon_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/spoon_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/spoon_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/spoon_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/spoon_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/spoon_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/spoon_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/spoon_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/spoon_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/spoon_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/spoon_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/spoon_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/spoon_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="spoon_002">
+      <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/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.urdf b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a031aadc7affb1ed6d5b34dacfee223e2034fc8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="spoon_002">
+   <link name="spoon_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/spoon_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>884e91d70ace5ecda245f7ba5557b2a5</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 rounded bowl and elongated handle</description>
+         <min_height>0.0436</min_height>
+         <max_height>0.0436</max_height>
+         <real_height>0.0436</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012336</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/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.usd b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3a64e6633c0c1f5843d0a40b51d3989946925710
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/spoon_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae7521f4d122f5879f5826cd97b34dd4d6f825e12f615faa98158514184fd49
+size 4844360
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/textures/material_0.png b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d499b75ef7dd8727570cc33a8ac14e522ed90
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bcaa512ead6eb98e1dcaa1dacc4e551fa54a68b8c23ce23ffd646eb574f748c
+size 4572642
diff --git a/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/video.mp4 b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5121c5c466d0d7f6882b16bb66befbc10edb972d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/884e91d70ace5ecda245f7ba5557b2a5/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b7b982a5fe85ceb3fbc2fb2824f49ca301abca6e50a29cf437132f0e8ebdc46
+size 66690