diff --git a/.gitattributes b/.gitattributes
index f39761eb47298129d3e4817e930b27d8ca65ba96..1a74b58a3e4a5a313d2631df4c8a46508d92da7b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3349,5 +3349,7 @@ dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/stap
 dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/mesh/scissors_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/scissors_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/4900222781ac5b3eabe4e576c6f2e8ac/mesh/scissors_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/4900222781ac5b3eabe4e576c6f2e8ac/scissors_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..879c5738f22f603d5919b4d794d8983cda2891a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..754b170e659ccb2c5c2c303fc11742d34958602b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a360cc4f415b87acaff69f6924f9697e0d99eb27ac5637710e4da24877344c1c
+size 9191799
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.glb b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ebf954e29ae973d57e73adc574051c48ac4a484f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4210e38ed325f36e69cd9f61216038501d85e6d4911da6f8eb81388c46b95521
+size 12405676
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.mtl b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1090e52d575cc3926a2c6909f04b149c730a6f5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_012_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/47747fceab015558832521c18827da6e/mesh/stamp_012.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee3f9ff82f31e783c9ffc837c80c596b19dd74b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.obj
@@ -0,0 +1,103822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012_collision.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68844375f46ae5a0c3d6dd10c55c320d231c0f49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012_collision.obj
@@ -0,0 +1,14900 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..facfe71f69d40becf0888e3658518a9cf58fd1c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision.obj
@@ -0,0 +1,14900 @@
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_0.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442c1652260768f939b0c3525a0ae2c39c59a989
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_1.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952817eb3f8571805b43e54624568e34036d33bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_2.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bddc16411139c628f9a70c70d0a486b0597bf7e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_3.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c8d72e0eea4c389d0d36b91e091cae8072d8ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_4.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fbdffbd0682dc104500d26f2a52a33dc043d19
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_5.obj b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe23d315d98baa1bd56c42a7f94d9e05f1b6765
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/mesh/stamp_012_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/stamp_012.xml b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/stamp_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9efe2d314ce25bb23a1b1af3e2ce0685907b7f7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mjcf/stamp_012.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stamp_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_012">
+      <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>
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diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.urdf b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_012">
+   <link name="stamp_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>47747fceab015558832521c18827da6e</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 side cutouts</description>
+         <min_height>0.0985</min_height>
+         <max_height>0.0985</max_height>
+         <real_height>0.0985</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174138</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036286 -0.037014 -0.049791</min>
+            <max>0.036161 0.036155 0.048757</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"Side cutout/window is inconsistently segmented and partly missing; top and body are otherwise reasonable.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.usd b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.usd
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+size 4831996
diff --git a/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/textures/material_0.png b/dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/textures/material_0.png
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