diff --git a/.gitattributes b/.gitattributes
index 21aea4f4fdcbf480e12e67766cd1a688b7b5dc25..f5be9312b3615ef96782892f11161b66dd2e8745 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3318,5 +3318,5 @@ dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scot
 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/mesh/sticky_notes_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material.mtl b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b8ee5482e8250bf07ae1580472f6d1e481f300d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_018_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stamp_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material_0.png b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41bd6e2adf49bb78daef2da71110bab8256d528f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.glb b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e26e1357e827657d3b0522bc892343c9e9780a33
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15908400
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.mtl b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4104397b291c9f2313996a790fcd205acfc46c0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_018_geometry_Looks_material_0
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+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/15104934e5025657891b1759f1d388fe/mesh/stamp_018.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74958bed9749f1892cf61c4bb0058232e5a74672
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018.obj
@@ -0,0 +1,112640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018_collision.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d249f5457fe863e53bb1a0043340fcaef4d995b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018_collision.obj
@@ -0,0 +1,11542 @@
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mesh/stamp_018_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..41bd6e2adf49bb78daef2da71110bab8256d528f
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+size 12512044
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018.obj
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index 0000000000000000000000000000000000000000..a3f1a2c918265e148853e93cdaa699a60236d5e7
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+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018.obj
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36a7b95a7b769b3c7f60ccfda5fa68b377ea400
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision.obj
@@ -0,0 +1,11542 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_0.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69b9eb119b82f1dd6aff91234249528c92e60f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_0.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_1.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d904aba9cd02a944ee714e02bc4e5683e0af722
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_1.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_2.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738c60cf46a4728ce274b395536992b7e2e4709d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_3.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5567244f0aff23483c65ea3e3e2cab46cf6644a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_4.obj b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71632f079c94c8b671fb9e93029ac4548ac22b18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/mesh/stamp_018_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/stamp_018.xml b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/stamp_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8a640e54fdc56d303dc463bf0b3766d9bb7ca39
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/mjcf/stamp_018.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.urdf b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec714e3ade78befe019c7b16fcabe1e0fda3bd6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_018">
+   <link name="stamp_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>15104934e5025657891b1759f1d388fe</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>square seal stamp</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>stone</material>
+         <description>gray square stamp with rounded handle and engraved bottom</description>
+         <min_height>0.0896</min_height>
+         <max_height>0.0896</max_height>
+         <real_height>0.0896</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174423</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.030496 -0.032756 -0.022091</min>
+            <max>0.030427 0.032258 0.067553</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.usd b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/stamp_018.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4948914
diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/textures/material_0.png b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/video.mp4 b/dataset/desktop_supplies/office_tools/15104934e5025657891b1759f1d388fe/video.mp4
new file mode 100644
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--- /dev/null
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