diff --git a/.gitattributes b/.gitattributes
index cd2877d4e23570625337b98c6e935f5e2aa87023..61c804413b1574fcdf1e1262ccb2043c49e6aab3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3347,9 +3347,5 @@ dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/mesh/scot
 dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/scotch_tape_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/cutter_knife_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/mesh/cutter_knife_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/stamp_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb1d25d08d33dd0d8f5b02dc571f7a0ef08f044e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_021_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3ca440eef8459b8834eac48a240ca7903874805
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.glb b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4f8501c9049e4d774c76a377a7af25ee94c93197
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8651624
diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.mtl b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3a3e76810a466ff411f625ef52d38eb234980de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.mtl
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+newmtl stamp_021_geometry_Looks_material_0
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+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/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c4e1a0432eff5369907b3f1fa2a35b5c29a9e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021_collision.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc4c6ac85da7354a62a7bc4695a708de244954e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021_collision.obj
@@ -0,0 +1,11359 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mesh/stamp_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3ca440eef8459b8834eac48a240ca7903874805
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 5741909
diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3ca440eef8459b8834eac48a240ca7903874805
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9079990aeeb2423510b154bff3a1d6880d0a7c00254b103467b586b68f907493
+size 5741909
diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021.obj
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index 0000000000000000000000000000000000000000..78570f29bf01540f88ea63ccef6f87b7c481e2ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0806b6b182c0b6cb978d461c06a4bf91dffe71e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision.obj
@@ -0,0 +1,11359 @@
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_0.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2ba15df846bd0d2a1d58c713d341807c9b9c8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_1.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a862fd807e13d6dd76e44a088caf3555370e70e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_2.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18972d206b3a1c8bef0ee5d2f8b4b84d1bc36ffd
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_3.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1adbff0c5656c31762ad78d6fdd062d6b6e2e23d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_4.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604cfeada1bf5c7a10ae5a1d3213e3e0ba95d8ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_5.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1800d61dd37d6d973806ba158c0ed86293d88aff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_6.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1756a6381f63c3727cb193b70cc7e51168cfb69
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_6.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_7.obj b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d82a9363c431bb35d6d87a3c82190a58ca1904d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/mesh/stamp_021_collision_7.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/stamp_021.xml b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/stamp_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5a0585a3e9d47baaf627254413c82619f86dd4b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/mjcf/stamp_021.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stamp_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stamp_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stamp_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_021">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/stamp_021.urdf b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/stamp_021.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3531544e5c0150ca913aca219cb4a5f7/stamp_021.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_021">
+   <link name="stamp_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>3531544e5c0150ca913aca219cb4a5f7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>self-inking stamp</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>gray self-inking stamp with rectangular base and cylindrical handle</description>
+         <min_height>0.0526</min_height>
+         <max_height>0.0526</max_height>
+         <real_height>0.0526</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174534</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022497 -0.022765 -0.017920</min>
+            <max>0.022503 0.022862 0.034694</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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>
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