diff --git a/.gitattributes b/.gitattributes
index 5e56b88edfcbe9ddc4f9f9990bd8f68873f82bba..c0b145e41cbf357490b2e23056d7bc2788a3ffea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2635,9 +2635,5 @@ dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/mesh/na
 dataset/bathroom_supplies/personal_care/f6939b0f7b5a5876a771065a0f507713/nail_clipper_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/dental_floss_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/f7425af696e05dd7b26f39eab7a7b689/mesh/dental_floss_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/mesh/razor_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/f90bbbb17d705379a6432772b8bc72bb/razor_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/mesh/razor_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fb807bdad659506ebc99ddfdf8d2575d/razor_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/mesh/toothpaste_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bathroom_supplies/personal_care/fdf4cee888a75e61abf71331e86c05f5/toothpaste_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.urdf b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23a0277a941a0165e5474ef3a146c92f2987712b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="dental_floss_010">
+   <link name="dental_floss_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/dental_floss_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>ff031c4e1ade5142b22fe9be1904c6d3</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>dental_floss</category>
+         <name>floss container</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular blue container for dental floss with printed text</description>
+         <min_height>0.0700</min_height>
+         <max_height>0.0700</max_height>
+         <real_height>0.0700</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416201210</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.usd b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/dental_floss_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a77721942a44fd1a8ad4aa80ca7cd3dd1d8d770d69146e8687e839149aa837c
+size 4798619
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.glb b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f43f4782ff9d62184af0b78cec2c271483c461bc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:240efca58b48ff60ca7d50ece2fb4b7ff483a6a4cb725dfec20e22a6642bdf8b
+size 14085388
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.mtl b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..63cbb4bd3d490604aa2aa8580606c8b7bdbaae7f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.mtl
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+newmtl dental_floss_010_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/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ee6242d746fab94ba4aad44ae80b69a6191a20
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010.obj
@@ -0,0 +1,112678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_010_geometry_Looks_material_0
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_collision.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d18d6ae15a738d17bd7126f8f447e99642c0e2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c90125ca56e690ef168a8b799a495bc0fb3108d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/dental_floss_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0539c3e5db8ab94707d40cc67ede396c072b7476c5d7e361dcebb8a739355fd
+size 10945909
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbdc9b2a7cdd5274dafe60e0c63970a51c3c91a6
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl dental_floss_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c90125ca56e690ef168a8b799a495bc0fb3108d2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0539c3e5db8ab94707d40cc67ede396c072b7476c5d7e361dcebb8a739355fd
+size 10945909
diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/dental_floss_010.xml b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/dental_floss_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..874a3377a390157c8600d8bf115ac73e40838ff9
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/dental_floss_010.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="dental_floss_010">
+  <asset>
+    <material name="material_0" texture="texture_0_dental_floss_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_dental_floss_010_geometry_Looks_material_0" type="2d" file="mesh/dental_floss_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/dental_floss_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/dental_floss_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/dental_floss_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/dental_floss_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="dental_floss_010">
+      <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/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd4e92afa926990416e75cb1499bd677e4eb711
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010.obj
@@ -0,0 +1,112678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl dental_floss_010_geometry_Looks_material_0
+v 0.009339 0.056246 0.029731
+v 0.009339 0.056246 0.029731
+v 0.004011 0.056226 0.029844
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37a1244139a3eae38ea9b1a43a4c61b28beaae5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision.obj
@@ -0,0 +1,4139 @@
+# https://github.com/mikedh/trimesh
+
+o dental_floss_010_collision.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_0.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b668523e8334db0cfe0b8a6a70c2a5a8feb4a03f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_0.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_1.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e09ada2db6022e38f24cb623dc8aacdebecefde
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_2.obj b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d661510f013022e522e82fcdbcf2a9d1a98647
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/ff031c4e1ade5142b22fe9be1904c6d3/mjcf/mesh/dental_floss_010_collision_2.obj
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