diff --git a/.gitattributes b/.gitattributes
index 2f2ce8dfe561f6cc57a242702eacacfc1ae3d613..9b81e8b7a36ae35b35c64b323a6eb4a57af90b48 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4291,3 +4291,7 @@ dataset/kitchen_supplies/tableware/99e659d622065e70a621b32bae134ee6/mjcf/mesh/bo
 dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/9dd34f3bd4425e21a9ae58772a0ccaa5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/9dd34f3bd4425e21a9ae58772a0ccaa5/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.urdf b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eefa1cb03dc05e012d6a19927fb396a5f28d77c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_007">
+   <link name="coaster_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>8f6315af06ed5676ac78b39a900f66ec</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>leather coaster</name>
+         <color>brown,black</color>
+         <shape>flat</shape>
+         <material>leather</material>
+         <description>square leather coaster with stitched edges and textured surface</description>
+         <min_height>0.0115</min_height>
+         <max_height>0.0115</max_height>
+         <real_height>0.0115</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428011323</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>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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.usd b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3ef19d6c0efec62adce94b407cae13c352393362
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/coaster_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 129981374
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.glb b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..18d032a299cd80cc3615face4aae44d2f130f15d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b68f09f16573427f514a09dbe67932cb8cd4facaf474117f2217d8bca152433f
+size 91477732
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.mtl b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffb6d62376412906d835d97049ed6b96476253ed
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.mtl
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+newmtl coaster_007_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/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1a7fa8b86f8bdd9ede223f027c580f6775df56
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ba38e8bd5939648a3ea422e85ed2f6f5c3aaeecb651b7c4125a59333cb2e2d
+size 115893031
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_collision.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10fc9add9876dbaab8d679665b03431cb153807
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+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab1215458ca1d001d725dd6eab5d1165a5424c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/coaster_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a260eff32a8b4c8d0bc882bf1eda64c9cbf94a774079da8cc0614dfc070bcc57
+size 19456017
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material.mtl b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..08ad27b8bf6efaf751cad5da60fa351e4d34a946
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material_0.png b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab1215458ca1d001d725dd6eab5d1165a5424c6b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a260eff32a8b4c8d0bc882bf1eda64c9cbf94a774079da8cc0614dfc070bcc57
+size 19456017
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/coaster_007.xml b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/coaster_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9a286258a4437dbb9316f061043285dc0808662
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/coaster_007.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_007">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_007_geometry_Looks_material_0" type="2d" file="mesh/coaster_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coaster_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_007">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45dd0a5577f7b02a0fe71e3441aa231adcb64323
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7fd13ae9c7a1d31cb19dd0f9fd75a3e5c0153962c94db6978228f458d911fe7
+size 110905477
diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046c5b057223bf56e41e078a1c8436f725fa2dfb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision.obj
@@ -0,0 +1,5918 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_007_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_0.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e5b430c51a8007cefdc6f78aed89dd3eb4a1de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_1.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c339a6c1141c9c9330cbcf3d291ce4d10b0870a3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_2.obj b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f11378fa5338c9a86289088dc1576791dca81e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/mjcf/mesh/coaster_007_collision_2.obj
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