diff --git a/.gitattributes b/.gitattributes
index 7205f13bbec230bd91f0cd8f401a86b51c77c8f3..922c8b2447e995d63c1ad92367d9c44c4f25e0a5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2483,3 +2483,5 @@ dataset/bathroom_supplies/personal_care/29ed4517b1c45984b611ca7956c8652f/mesh/ra
 dataset/bathroom_supplies/personal_care/29ed4517b1c45984b611ca7956c8652f/razor_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/mesh/razor_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/2b2a8b8401ad5d439dc4fb4d39976c87/razor_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.urdf b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bcc844c5464ed27367154496fa25973d14a32ba8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_009">
+   <link name="dental_floss_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>22146ab05dbe5f77a113bd9c51db341a</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>blue floss case</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact blue rectangular case for dental floss storage</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201149</generate_time>
+         <gs_model>""</gs_model>
+      </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/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.usd b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..393257bc865d429b9037edeef2914e959528f411
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/dental_floss_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4768264c38b09f7c857150042cc21426bac8ea996cad8372d90d865864b409
+size 4969355
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.glb b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6f071a78be12886fda316903ed5351da300ddc04
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0056e7cd46fb548744c9e4978fde685e83ab59c249e21ef21c62650d6b2e9166
+size 14506300
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.mtl b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0036765197e726ddee04935e7879596ad36f3cd9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.mtl
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+newmtl dental_floss_009_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/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e2e1235deea73a6568a1635c8de25915a06a2c7
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009.obj
@@ -0,0 +1,124100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_collision.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8bd51136848174b18ab4ea03a356ff92b29f74f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95ce5fbec46733a7991b34e28776e78c290e1789
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/dental_floss_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93576cf988cb1d16ee90ab7e514d6041af9987dead0363eb9042a7838d6ad68e
+size 11086898
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f3ee6f6edf2d77f6e97c3d0e7831a6f84c02929
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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+map_Kd dental_floss_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95ce5fbec46733a7991b34e28776e78c290e1789
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93576cf988cb1d16ee90ab7e514d6041af9987dead0363eb9042a7838d6ad68e
+size 11086898
diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/dental_floss_009.xml b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/dental_floss_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8cbb6d77d61402729c7f80e4f8c0f5c06001402e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/dental_floss_009.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_009">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_009_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dental_floss_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_009">
+      <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/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e50695a2ecc032ed04bb721a3ad556faf1a143
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009.obj
@@ -0,0 +1,124100 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_009_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a125331fae91abbc8d0f7cf3c3fea3ef95909e4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision.obj
@@ -0,0 +1,3578 @@
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_0.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60b564b7a9325cc6f96edcd398bdc54fde2cce47
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_1.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9b67bf006526449fd8bad2239250fed7c8b118
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_2.obj b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c403a1fcbbc8ded753fc9f4c982850043292e59c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/22146ab05dbe5f77a113bd9c51db341a/mjcf/mesh/dental_floss_009_collision_2.obj
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