diff --git a/.gitattributes b/.gitattributes
index 401a4e3e45c61c731fe734dd80c29c45d1d6da05..74d8205575a0a25a06800c73a948fb42de7c9a9f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2575,3 +2575,5 @@ dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/comb_00
 dataset/bathroom_supplies/personal_care/9e5ba745c7a4523c89d38db249d834e4/mesh/comb_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/mesh/toothbrush_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/9ec6bce7bcd951e1bcb1b6e1053b119f/toothbrush_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.urdf b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..872021f6125c9d1c96e82e5d7663ccf0c6cc0d52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_037">
+   <link name="dental_floss_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_037.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/dental_floss_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>a030ccb7b4c55c9d8c72f4fb15421c4b</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss case</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rounded rectangular dental floss container with side loop</description>
+         <min_height>0.1100</min_height>
+         <max_height>0.1100</max_height>
+         <real_height>0.1100</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611121506</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026407 -0.060582 -0.055096</min>
+            <max>0.026431 0.038949 0.054904</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.usd b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dcba1e1e17d623e4a5a1d24debcd7bdc92e530b3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/dental_floss_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94110dabee52d459e4fadf2df9f260ef9721c2f8cc78c223bc41043ef11468fe
+size 4843266
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.glb b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8b238038752b0fa63046d842269bc2d76039fde1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8148206dc9c58c45002dda63dc2809657e831a23b878dd4b7629804ac5c8a996
+size 10808040
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.mtl b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de4cbed18f6a9a06e2272c09781b9788d716a208
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.mtl
@@ -0,0 +1,6 @@
+newmtl dental_floss_037_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/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8925da53e0d288b09f24c89258554cdc488c811c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037.obj
@@ -0,0 +1,107630 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_collision.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a629e48f52ee994efafc4a07b52a072bbab51fee
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_collision.obj
@@ -0,0 +1,11432 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b4f690073cf3df88340f6b820047ac747e87cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/dental_floss_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e3056d54090a7858facc942e5e5bf5ce03b558ca7d644b0a759dabe97465b2
+size 7570067
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0b4b7d1ba5313c293b0d7e76293517eea770563
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_037_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 dental_floss_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b4f690073cf3df88340f6b820047ac747e87cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e3056d54090a7858facc942e5e5bf5ce03b558ca7d644b0a759dabe97465b2
+size 7570067
diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/dental_floss_037.xml b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/dental_floss_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5011c2c1905bc14036aee50c7ce6495892e32bba
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/dental_floss_037.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_037">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_037_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_037_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_037_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dental_floss_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dental_floss_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dental_floss_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dental_floss_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_037">
+      <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/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f548afe352a04b9e5faf2d1c433b8504050711
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037.obj
@@ -0,0 +1,107630 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_037_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e92e32859e14fa997e777a86836ac2edf8f86c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision.obj
@@ -0,0 +1,11432 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_0.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8cd1af149b919bb7ec137619ad13f64f96ce98
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_0.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_1.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f57259ea7807aa05c744d78a0124876589870b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_1.obj
@@ -0,0 +1,5092 @@
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_2.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84be2f9e73e70ccdba4038e2b3812cd53549c44
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_3.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f86b6e5813aa48f3f53696a4dd080a7b99aa84
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_4.obj b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f72af4bbd503eb94b51228eba21898660988fa
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/a030ccb7b4c55c9d8c72f4fb15421c4b/mjcf/mesh/dental_floss_037_collision_4.obj
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