diff --git a/.gitattributes b/.gitattributes
index 6bd3cc729a86978f7b7c9272c38d6b2837591b9d..e4cd35a818b1f011f35457935d36bf4daae50b48 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2519,3 +2519,5 @@ dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/comb_01
 dataset/bathroom_supplies/personal_care/5e22fd833fb95fce90dff6f1679f4968/mesh/comb_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/comb_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/6707f2918d0f50cdb31700c2c9ba62aa/mesh/comb_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.urdf b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d5b2212e3b476ee96de035ea0835de937466dcb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_023">
+   <link name="dental_floss_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>63f5b072dc1a587a97396bfa011bfb9c</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss dispenser</name>
+         <color>pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink cylindrical dental floss dispenser with flip-top lid</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611120712</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035429 -0.036228 -0.056760</min>
+            <max>0.036894 0.036334 0.063240</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/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/dental_floss_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d530556580597f74e1800be4f11221a05092f254eee795a00b6ae0ef7fad577
+size 4867007
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b936f559dd9a7bf54d2eee2153293d265c3df3b8
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f888699610c1e2b873fffed6cc8f7355f116d3ddd9b3ff169ba469e5d9ccb5
+size 13180932
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.mtl b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7344821db5b79c148e7da416730d0b194980535
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.mtl
@@ -0,0 +1,6 @@
+newmtl dental_floss_023_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/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0122930f8ae048f2cf49004cc011c0012b981f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023.obj
@@ -0,0 +1,109560 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_collision.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b55d6b2ffd2a4b4bfdec754b60516da7ca8001
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75c41f324366259d2ad3207802367134707d9e97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/dental_floss_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508cf620f7ab07c115ed10d6e009d2dd545749efca51073ad644a15034672800
+size 9901657
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..006910d218ab4d3f2f955ae3dd7eab18627d13be
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75c41f324366259d2ad3207802367134707d9e97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508cf620f7ab07c115ed10d6e009d2dd545749efca51073ad644a15034672800
+size 9901657
diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/dental_floss_023.xml b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/dental_floss_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..873c8379286d328ad7c141278ead050ab272b084
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/dental_floss_023.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_023">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_023_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dental_floss_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/dental_floss_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/dental_floss_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/dental_floss_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_023">
+      <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/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be1f2978cea4939cbef7389a9d2e30f3f32c420
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023.obj
@@ -0,0 +1,109560 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_023_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99d86008a7d674de5192cf8bce839215d4d4c28
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision.obj
@@ -0,0 +1,14900 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_0.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11364a7542c74941c722d9b5dc0a71b541726066
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_1.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70e59708399ecdee5188f3c49015f71f762b234
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_2.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5248a6d91c99630ff3b07b0e4ece1feaf41b92e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_2.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_3.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7677d519826432352c18e32d9217b4b5693b0f4
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_4.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90ad756ae609c794dd234ec8bcdd6c1582e816e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_5.obj b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a5f0f205f2f3a416383da93107498969c6b2a0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/63f5b072dc1a587a97396bfa011bfb9c/mjcf/mesh/dental_floss_023_collision_5.obj
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