diff --git a/.gitattributes b/.gitattributes
index 66c4af7699efbfdb7b86f91f82fee08e38a51ebd..e798d3461c6dc5a9e90c6484a2fe1d63894a2595 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3310,3 +3310,5 @@ dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/mesh/scot
 dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/scotch_tape_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/stamp_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material.mtl b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37a98a79ab21a3439c17895b57672982cb4c745e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material_0.png b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12ef766c6eb609b7c56f839194a0e04a9ec61c5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c7b4f6f35056e4ecd3855da6c98c531336a97ed8980746335874cf6a0d4882
+size 11008795
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.glb b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b5ec7f93b2f02921ba410c9db2989a5cc4524cfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f86b32dd1e9e5979e32975f49395ade6895d41db5367f093e1b72a00fa36a70
+size 14336372
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.mtl b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37982e6e11cee69ef4057370189d14e32ec815b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_005_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/024e468216215da3affc71a52b526479/mesh/stamp_005.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fee3e46854af62b8fae888516c1bc69aae7594
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005.obj
@@ -0,0 +1,113120 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_collision.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e4d60011a8608c3e83d065a34969112b9060c9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12ef766c6eb609b7c56f839194a0e04a9ec61c5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mesh/stamp_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c7b4f6f35056e4ecd3855da6c98c531336a97ed8980746335874cf6a0d4882
+size 11008795
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12ef766c6eb609b7c56f839194a0e04a9ec61c5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c7b4f6f35056e4ecd3855da6c98c531336a97ed8980746335874cf6a0d4882
+size 11008795
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbb58e35b52f58884e1b50f2fe7c217fcd49baf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005.obj
@@ -0,0 +1,113120 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_005_geometry_Looks_material_0
+v 0.030842 -0.000320 0.026196
+v 0.030842 -0.000320 0.026196
+v 0.030819 -0.000901 0.026103
+v 0.030819 -0.000901 0.026103
+v 0.030880 -0.001125 0.024793
+v 0.030880 -0.001125 0.024793
+v 0.030880 -0.001125 0.024793
+v -0.030330 0.000262 -0.033054
+v -0.030330 0.000262 -0.033054
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..303564e23579f9ece3254f1abc10b91c72014887
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision.obj
@@ -0,0 +1,10749 @@
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_0.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74da8182b3e1e6abecee816ab88a0ddd9ecc7f2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_1.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79c35813ba26bb704fd55f675179c2456d7bc809
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_2.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ea73244ffd056924271b5b0c2303ac98297d30
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_3.obj b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065f680ba43463ae445df9cf040aad8b4f37d04f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/mesh/stamp_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/stamp_005.xml b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/stamp_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18c4586616080ecbb89e97d414a7a5dbe71a9037
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/mjcf/stamp_005.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_005">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/stamp_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_005">
+      <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/024e468216215da3affc71a52b526479/stamp_005.urdf b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c6acf2469076cf5959cf0552987582d4e0b4645c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_005">
+   <link name="stamp_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>024e468216215da3affc71a52b526479</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>cylindrical stamp</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>compact cylindrical stamp with transparent base and gray top</description>
+         <min_height>0.1114</min_height>
+         <max_height>0.1114</max_height>
+         <real_height>0.1114</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211533</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.usd b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ebcdb5917dd4fdc21a541354127c3003c2bbc100
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/stamp_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b263d08a2fefdf6ce530301f37cb07a25678d04985c2ca9ba94c4716d0d0a6a4
+size 4900510
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/textures/material_0.png b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12ef766c6eb609b7c56f839194a0e04a9ec61c5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c7b4f6f35056e4ecd3855da6c98c531336a97ed8980746335874cf6a0d4882
+size 11008795
diff --git a/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/video.mp4 b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b6b71deefe0b05151e3327655511ecfb7ca98b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/024e468216215da3affc71a52b526479/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dda02972e6d68472218213fc0fb2d423d6dab8c1504f68912291f9ad97431a37
+size 194492