diff --git a/.gitattributes b/.gitattributes
index 5491dc0d8380b0b676e019b838df24c2979a0082..2741f901bc1342982366a96e014c6996e2b3da8d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3333,8 +3333,5 @@ dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/cutter_kn
 dataset/desktop_supplies/office_tools/2038cb87f798564aa489aff666e557cb/mesh/cutter_knife_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/mesh/sticky_notes_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/magnifier_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/mesh/magnifier_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c817df0a7854ada6197a59a5e04ec239ea69ada
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_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 stamp_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cf8be48c69b137dcf0b8752820d8457feebcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e0d4d416af76b657306e59de52ca30a6b2beb28d02372c387f84dd0f688725
+size 10955139
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.glb b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6df42257955b3d7ec8071a574cc22c19314c3d66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24de0aacb255c36c91cc6c16e217bf42815194c39bcb18648e7026e002c0163
+size 14221756
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.mtl b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2dfe7c095fec0daa3262ab0ece6542b546d033b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_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/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac0066b1fea5266d2d0a6f17aa8c3875a454f16
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013.obj
@@ -0,0 +1,108928 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_collision.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e108234fc39cb62b23fce07717deb107bb7d38
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_collision.obj
@@ -0,0 +1,14774 @@
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cf8be48c69b137dcf0b8752820d8457feebcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mesh/stamp_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e0d4d416af76b657306e59de52ca30a6b2beb28d02372c387f84dd0f688725
+size 10955139
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cf8be48c69b137dcf0b8752820d8457feebcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e0d4d416af76b657306e59de52ca30a6b2beb28d02372c387f84dd0f688725
+size 10955139
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9409889a8e27ce942079841d9dd9e8021647a910
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba25c4a5b61161a063fd2c41fab9f3692ed9517e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision.obj
@@ -0,0 +1,14774 @@
+# https://github.com/mikedh/trimesh
+
+o stamp_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_0.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473dc972d8e2b6a4e9eb5319f442979762474aa0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_1.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f6daccb8a871d3885c5fd080260993f4d8d51bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_2.obj b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fc9dc1c22ddc827451300ef18f862ba1fc7b65
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/mesh/stamp_013_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/stamp_013.xml b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/stamp_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba51261882df47ab7a5fc24b9ed15d8947e9db93
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/mjcf/stamp_013.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_013">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/stamp_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.urdf b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cfc520f99cb5de3e6157e1ef37b931350fd84781
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_013">
+   <link name="stamp_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_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/stamp_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>253fba3ffb0e5cdcb1f277c1e0741d5e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>self-inking stamp</name>
+         <color>red,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical red and gray self-inking stamp with rounded cap</description>
+         <min_height>0.1030</min_height>
+         <max_height>0.1030</max_height>
+         <real_height>0.1030</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174203</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034761 -0.034781 -0.051366</min>
+            <max>0.034434 0.034790 0.051606</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.usd b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..68efb87451adb4ac9147b2bb6f05934ce7b5cc2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/stamp_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f18e07e74aaed7938222ba012e6e5c7499578e95f640d5a26ad1293d5ac8e7
+size 4862600
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/textures/material_0.png b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cf8be48c69b137dcf0b8752820d8457feebcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e0d4d416af76b657306e59de52ca30a6b2beb28d02372c387f84dd0f688725
+size 10955139
diff --git a/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/video.mp4 b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a19259f71fe152d49e0ea8f51d345be780b67cb2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/253fba3ffb0e5cdcb1f277c1e0741d5e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884802541bc39de5034e31c2b09ed365b2da6b1f2083fd14da28778e81778ce8
+size 209001