diff --git a/.gitattributes b/.gitattributes
index adb493f546f20ad1ca7cd54f107b832b0cc038bb..a317714dd645eab7c182db0c42bfeecca96f0a40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3357,3 +3357,5 @@ dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/56706e0c2dcb5814a07067ecb54c7e95.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material.mtl b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2528faf955e07d4c6c7154c1d5e351ea52ce19d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d4cd0315f9fda0b1b12f44203e045d3310f6ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac6733b9c289d071b1d74e1df928d9ff4bdace1e244a09979519b85c4245994
+size 11196699
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.glb b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aeea9bd436a54afc9c1636050d712c38add405a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73e278735ced03adbd54bc566df801d2ac4de6d4eaa3a85ccc8dad6fe764076
+size 14597140
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.mtl b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..19e168bffecf89fc95095e22fd2138fdc87c1960
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_028_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/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c23a29224afb3946eae3b8b068e5312f96b9d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.obj
@@ -0,0 +1,106562 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028_collision.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a156fe2c3d67975279814f16e95197fc8b68f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028_collision.obj
@@ -0,0 +1,16542 @@
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11196699
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d4cd0315f9fda0b1b12f44203e045d3310f6ed
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+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dac6733b9c289d071b1d74e1df928d9ff4bdace1e244a09979519b85c4245994
+size 11196699
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028.obj
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index 0000000000000000000000000000000000000000..00bcab06b1d6f7bcfb943a6fb353ff11dafd8d78
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+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028.obj
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af7804019fec68da63a547c6e63571ee4230286
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision.obj
@@ -0,0 +1,16542 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_0.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d74df24fe4afc808290154b8dadbe688c766c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_1.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c739e411960042fb5238054a3aa87ee243df53e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_2.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16583c12a50671b48b3c3f584386c4341eb9b409
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_3.obj b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf1f258aff5ef06d66905c2487495d3982972ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/mesh/stamp_028_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/stamp_028.xml b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/stamp_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bff8df741e1a0b0e28dbed0c753d6537cd0f76dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mjcf/stamp_028.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.urdf b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9f8b592ea169cf32f07cb79700c77d5870d5620
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_028">
+   <link name="stamp_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>5b66fdd36af359fd9d93da4fe38c3eff</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>round stamp</name>
+         <color>golden,red</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>gold self-inking style stamp with red rounded handle top</description>
+         <min_height>0.0635</min_height>
+         <max_height>0.0635</max_height>
+         <real_height>0.0635</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174803</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022734 -0.022357 -0.026829</min>
+            <max>0.022266 0.022448 0.036646</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.usd b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.usd
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diff --git a/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/textures/material_0.png b/dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/textures/material_0.png
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