diff --git a/.gitattributes b/.gitattributes
index e8c3aceed9e669978f30aba96c74bd18aafa7e13..d4ca138f680c3f902b94461dd2635876a40af628 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3472,3 +3472,5 @@ dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/mesh/magn
 dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7eb97212f3dbde6bffcb6ad52fdd4362d92d47c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b03ffdc8891d16c410af5b53bbdf622251c614f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1f0903a001a9d097bd8627e2a06cbbf16fd3faad85fad018f1996dc4d1e7c9
+size 10296930
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.glb b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ab4a4daf7e1cd63066cca5f8a06c74484a67335c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebe8fd8329241aee5eb7d6f89559039847672be42db21373655ae0b030dbb9a
+size 13724104
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.mtl b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f58dd214562894545668575ac8aa6f1509268cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_003_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/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2a0049d9516d936a73ab72e1c4b8494e10b6f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003.obj
@@ -0,0 +1,107518 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_collision.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9211cf421d2890317a52d8025cad03fe7f2266
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b03ffdc8891d16c410af5b53bbdf622251c614f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mesh/stamp_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1f0903a001a9d097bd8627e2a06cbbf16fd3faad85fad018f1996dc4d1e7c9
+size 10296930
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b03ffdc8891d16c410af5b53bbdf622251c614f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1f0903a001a9d097bd8627e2a06cbbf16fd3faad85fad018f1996dc4d1e7c9
+size 10296930
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456157c1320b6b56a53c971a45aa9eccc18f993f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781d5efc380a6c16c1397f39b4a84f51355b6646
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision.obj
@@ -0,0 +1,12852 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_0.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0b3a82541a0b64e10d67ed91790205a3e91fef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_0.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_1.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79baa77f20f5ff1e7d393b32c9d5977332be787
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_2.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49b7a6b86982781c932ba7e7f5b8a329f6150df8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_3.obj b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd76148571b3271ad382a561189717311edc9e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/mesh/stamp_003_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/stamp_003.xml b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/stamp_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73f3b0e7395f162e6044c849966d82e5db684ab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/mjcf/stamp_003.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_003">
+      <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>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.urdf b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b3cc70022a257dff99a4f42552824ee5c8928c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_003">
+   <link name="stamp_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</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>f0ba1d8e65af52079e97c50c17eeed51</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 rounded handle and red rubber base</description>
+         <min_height>0.0910</min_height>
+         <max_height>0.0910</max_height>
+         <real_height>0.0910</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211447</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/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.usd b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/stamp_003.usd
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+size 4968190
diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/textures/material_0.png b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/video.mp4 b/dataset/desktop_supplies/office_tools/f0ba1d8e65af52079e97c50c17eeed51/video.mp4
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