diff --git a/.gitattributes b/.gitattributes
index e26a7fdd40d76c1ff073d7bb3078ab08b18fc1f7..e863c974a427461ef584b1b977d0b0f1c725cf8b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4090,3 +4090,5 @@ dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/mesh/fork_03
 dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/1608139b10e95f019987b0e54df62f34.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/mesh/soup_spoon.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/1608139b10e95f019987b0e54df62f34/mesh/soup_spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.urdf b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46910e821b554e701e029c3f36985efe9447faf2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_031">
+   <link name="coaster_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.00</mu1>
+            <mu2>0.80</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>125add9a32c15940a56463cfbb1264ee</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>round gray coaster</name>
+         <color>gray</color>
+         <shape>disk</shape>
+         <material>silicone</material>
+         <description>round gray coaster with slightly raised rim and embossed logo</description>
+         <min_height>0.0180</min_height>
+         <max_height>0.0180</max_height>
+         <real_height>0.0180</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153203</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039981 -0.039984 -0.008982</min>
+            <max>0.039996 0.040016 0.008982</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.usd b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a7b641bb677ec70c8eeec223691efa4d37b99aea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/coaster_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85760f061553e7eae2542c6a05bf9c613dc8baa8defd0e07d9aa800369a18247
+size 4975867
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.glb b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0aa4c1a876df0a00693cc24c333a8fb345c8fa5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a5f6eeda2f9031ecadf346187f749cf6d3cda24d10bc338d169f003ba33bd6
+size 18940248
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.mtl b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12b4355c137b4b57f9406b46e5ac8798a39ca7c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.mtl
@@ -0,0 +1,6 @@
+newmtl coaster_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fa017d22d1d94e562dc63f99a26e44701bf142
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031.obj
@@ -0,0 +1,111932 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_collision.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb58e8bb97944e9e8092a058c9a9d493db9ee31c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f116054677f19f12009293ae257c07700e44a8bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/coaster_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215f8b63eb6e5f62a24c9c79084dedc113267acc495ac9e3431bc047325ce769
+size 15497131
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material.mtl b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3da0844e461c761de8b98bc9ddeb0414c0f6063a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd coaster_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material_0.png b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f116054677f19f12009293ae257c07700e44a8bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:215f8b63eb6e5f62a24c9c79084dedc113267acc495ac9e3431bc047325ce769
+size 15497131
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/coaster_031.xml b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/coaster_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4164ecdd14d25aac0d1ef84064bb9b4f0dea9e59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/coaster_031.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_031">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_031_geometry_Looks_material_0" type="2d" file="mesh/coaster_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_031">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d20009eda355f0a36884cef0e38f52e38da5851
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031.obj
@@ -0,0 +1,111932 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_031_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d13553846784a0507eb494e5bb4e22cde1641f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision.obj
@@ -0,0 +1,18172 @@
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diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_0.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1303d6f87331c36e421540dacd92e8785b63705
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_1.obj b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f231e90eb1df0c82630859a65ba625f928d02a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/mjcf/mesh/coaster_031_collision_1.obj
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