diff --git a/.gitattributes b/.gitattributes
index f5be9312b3615ef96782892f11161b66dd2e8745..b17c14e87f33946c049db184a21fd6274772ec57 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/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
+dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..774f60f91886e719b7df7e6a71135560e4109931
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b91e7e782414568cfb073492ee7084c6cd8d0e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152e799bfdade1ce4fdaef2fcdd66f84209ee455448e83960b47532e6691febd
+size 8188872
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.glb b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5950b39ba2b53746ce540aa4d29dda8bf0f4b9ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fcd0fe325a6cdce8b4eb827eee746edc7b6ee956684baa72d79fef684bbcd5
+size 11382744
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.mtl b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50909b9232fc8846f74aa992d4057143d316758b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_025_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/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53cd43a420d13ae5f0fbe523cd1e01831b3ffcc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025.obj
@@ -0,0 +1,103368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_collision.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb4e0a6b0e624ca1dfa1e141ed83b8de037c824
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_collision.obj
@@ -0,0 +1,12682 @@
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b91e7e782414568cfb073492ee7084c6cd8d0e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mesh/stamp_025_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8188872
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b91e7e782414568cfb073492ee7084c6cd8d0e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152e799bfdade1ce4fdaef2fcdd66f84209ee455448e83960b47532e6691febd
+size 8188872
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7748b5c5e7bdafb167ebbf21eec662f96d618f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22c98587a02130d71a89b9dfe514953cd4d4250
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision.obj
@@ -0,0 +1,12682 @@
+# https://github.com/mikedh/trimesh
+
+o stamp_025_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_0.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa9cbc3cf938c47f016a8c1e4c0d5f1cbe4b541
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_1.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea1bfe658d41bff6fc900bb70143ca0d42e81639
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_2.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516e405bff5d9744be16e805d2ead87f4fccd9fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_3.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ba09317363ebc5803958611b4c52d97bda6a41
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_3.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_4.obj b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45361bd8085f87454e2961e728f25a667c4a1a6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/mesh/stamp_025_collision_4.obj
@@ -0,0 +1,736 @@
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/stamp_025.xml b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/stamp_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8318c26497ab1270dd88dfbe25b1aa9eddd7dd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/mjcf/stamp_025.xml
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diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.urdf b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a52a1d700a12bb77780af1888d088f78e172bf4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.urdf
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+         <scale>1.000000</scale>
+         <uuid>138b03fb159c53c291ee51ce5ac62b4e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>round stamp</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>brown round-handled stamp with cylindrical base</description>
+         <min_height>0.0634</min_height>
+         <max_height>0.0634</max_height>
+         <real_height>0.0634</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174657</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022284 -0.022391 -0.019402</min>
+            <max>0.022716 0.022439 0.044045</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.usd b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fd470b166d1ae52473d793342b715ddacd58b3ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/stamp_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ce6a84446ef9ef2ea27a5493c17a57b6c91113ec3b47029dbe522e1b6c942e
+size 4840437
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/textures/material_0.png b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b91e7e782414568cfb073492ee7084c6cd8d0e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152e799bfdade1ce4fdaef2fcdd66f84209ee455448e83960b47532e6691febd
+size 8188872
diff --git a/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/video.mp4 b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cddb1dfbbab8ba0f67fc4a44856f1da0da7a1759
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/138b03fb159c53c291ee51ce5ac62b4e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c1165d1a6ded2bb00987ba039b5bf64a9eac3be662f15d6df6ddd3dfa5b868
+size 142179