diff --git a/.gitattributes b/.gitattributes
index d0ce7ece8c05ec7be2708296af6f54b5cdb06632..47349f6a5980aa5513083cc8bea40592646eff3a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4237,5 +4237,5 @@ dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/7b7d1f64d23b
 dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/7b7d1f64d23b58cba83a39a70e23c647/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/85aa0ecaa5e75c9c80f4b6226505ae04.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7ea17a09634d55959c765a05a17d2ec5/mesh/tray_073.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/7ea17a09634d55959c765a05a17d2ec5/tray_073.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.urdf b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58d406b7873deda08a26cb2d5abf97e10a1345eb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_013">
+   <link name="coaster_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>85bf8af8344e586bb8722069592eca4a</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>floral coaster</name>
+         <color>white,beige</color>
+         <shape>disk</shape>
+         <material>fabric</material>
+         <description>round white coaster with raised floral embroidery on top</description>
+         <min_height>0.0186</min_height>
+         <max_height>0.0186</max_height>
+         <real_height>0.0186</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184429</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060282 -0.060987 -0.008476</min>
+            <max>0.059718 0.058829 0.010141</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.usd b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f44136d5d39bd472068c922a20da51e29db8edef
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/coaster_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec49a587506d690e743744c067a8b77f6897ef73580dfbccfcae48ae03db638a
+size 4838522
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.glb b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ed04a4f38fc115ab0bd49ac67dfac4f67091aa05
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa0ab3b27807ff48cc683dbc0f39ccf97e97bc0d5748eb05ffd13103dd60c33
+size 14141776
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.mtl b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e6d91eb8f371d74caa6bb847fe842e25c40c527
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.mtl
@@ -0,0 +1,6 @@
+newmtl coaster_013_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/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9c76dbf6806df156ebbe87c1eb43102c6f7321
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013.obj
@@ -0,0 +1,114164 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_013_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_collision.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d696c991ae64e6e9d97721bf395a09b556cb229
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_collision.obj
@@ -0,0 +1,6209 @@
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fbb8fbecd384c242453ef703a165607e29b0cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/coaster_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6421080c1ad78da618937a116d8bb1ffe9a377c48786511f50d614c75babab2
+size 10926799
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material.mtl b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..915302e703908245bd8b0a6ee9de14a95dc7e79b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl coaster_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material_0.png b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fbb8fbecd384c242453ef703a165607e29b0cbf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6421080c1ad78da618937a116d8bb1ffe9a377c48786511f50d614c75babab2
+size 10926799
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/coaster_013.xml b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/coaster_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b40504653fd5cb116f34a3942390b4112f6fbaae
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/coaster_013.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="coaster_013">
+  <asset>
+    <material name="material_0" texture="texture_0_coaster_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_coaster_013_geometry_Looks_material_0" type="2d" file="mesh/coaster_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/coaster_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/coaster_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/coaster_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/coaster_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/coaster_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/coaster_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/coaster_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="coaster_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f5c63f2ba08202d01555decd66bcd18f24b34e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013.obj
@@ -0,0 +1,114164 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_013_geometry_Looks_material_0
+v 0.057156 0.000545 -0.000749
+v 0.057156 0.000545 -0.000749
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4232442e209154852f6dcbc448420bae13f528fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision.obj
@@ -0,0 +1,6209 @@
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_0.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b40b950c52645db63f97f14126d633ddca94f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_1.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75e5e19ca2efb01153cac6c392e144804d77878
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_2.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2500517f5bd77d3c85c7f71185ab5d9d77d65b5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_3.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae0545161a82765bd7ae6a6d05e701474532446
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_4.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9868b0c46b852bbc349c157344587c98580748f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_5.obj b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05a1522d9b33163f547c09483b24085f702bd7f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/mjcf/mesh/coaster_013_collision_5.obj
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