diff --git a/.gitattributes b/.gitattributes
index 9188cf8a070e31a00d3cd4c8b620e374d0c137d1..1ac05042a25a78b1d9e830bd87cc0b30c0689bb9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3353,3 +3353,5 @@ dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier
 dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/mesh/stamp_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/stamp_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material.mtl b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8f272b30bc0efee4542e85f71e79389a7054041
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material_0.png b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e20e4b73435012eff44f3dd47cb6b020625d5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea9512cf9812dd8d90112d0d2e000eaa4a3064569043148b50994ec545ff4a5
+size 10866544
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.glb b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9a589e2d8b7f54360fd8cb4f9ba90c7ac859e70c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:110b922667e2a516d89603aa65f9f4c501e6bcbdf5d5350f7b9d6153e6662579
+size 14282404
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.mtl b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1c14f598cb1f566cb274d5d8e482d01edead652
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_002_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/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837cf81462fc98de10515d1ed0f616f6a505c761
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.obj
@@ -0,0 +1,109240 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_collision.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4477298de23525fa0c53a1f4540a29a396957578
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e20e4b73435012eff44f3dd47cb6b020625d5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:eea9512cf9812dd8d90112d0d2e000eaa4a3064569043148b50994ec545ff4a5
+size 10866544
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e20e4b73435012eff44f3dd47cb6b020625d5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:eea9512cf9812dd8d90112d0d2e000eaa4a3064569043148b50994ec545ff4a5
+size 10866544
diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f728c337be05e533947d613737bd4ae7a5e2881e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a1f71ef0484511ced0fddbac3e9678e966d682
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision.obj
@@ -0,0 +1,16843 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_0.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d832751c473c0b80bce83fea36725ad4509b51
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_0.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_1.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38ebfe67461f513f56714d885b140bf64443dea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_2.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299a3ecd9a9907ce6ea7e46d1565444e07b979c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_3.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0696e2cc9cb4aa9119c1e50ef14f73a37ad2a243
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_4.obj b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e18cb835f5f3177a58bc08c91170c886cf9fbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/mesh/stamp_002_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/stamp_002.xml b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/stamp_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51726ebf5485b8616d3f1e2ae98a1c3f02f91587
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mjcf/stamp_002.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_002">
+      <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/49b003e0ef2451e99e9c63359a8909f1/stamp_002.urdf b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbc065324e4bde0f92b6a8ed6c71cbf37d3364b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_002">
+   <link name="stamp_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>49b003e0ef2451e99e9c63359a8909f1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>wooden stamp</name>
+         <color>brown,red</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>wooden stamp with red base and engraved design</description>
+         <min_height>0.0671</min_height>
+         <max_height>0.0671</max_height>
+         <real_height>0.0671</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211420</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <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_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/49b003e0ef2451e99e9c63359a8909f1/stamp_002.usd b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..863fe52b7f82ca4190b0b8976a6fb86fe56a876f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf891d02fd3cd53f922a79c6379831bed75f5853de1932e8ea0d82a3d051022
+size 4956258
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