diff --git a/.gitattributes b/.gitattributes
index 3eee137928847d6bbded5e129a0dd4f08a541dfa..6931d67b345fb1dfe85d55c456a372a5dcdef6df 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3468,3 +3468,5 @@ dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b1315f5d1f383eb77fb8031539e14817bfa840d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20ff60d6a621d691be9d666a40e29e2cd07ad18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0667fc2a6b686ba52a5aa0e7b6965eaa6749c621bda1d4fa9bd06c9156bd467
+size 11239736
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..20afd58ff7dceab75c089630e540998e438b8c6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf739b99f2870d8e3f0bac346ccd9cc4681f448f8b555da9cffd2b5e8a6fc65
+size 14015132
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.mtl b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb05f5d5cb69cdd299a1de05977e3529b3c47cd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_008_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/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1562d50b5a36277438a14076a2567a718c80785b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.obj
@@ -0,0 +1,108838 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_collision.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2880ecedf883dd6e61122746562603a60a4b2f34
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_collision.obj
@@ -0,0 +1,10072 @@
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20ff60d6a621d691be9d666a40e29e2cd07ad18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11239736
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20ff60d6a621d691be9d666a40e29e2cd07ad18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0667fc2a6b686ba52a5aa0e7b6965eaa6749c621bda1d4fa9bd06c9156bd467
+size 11239736
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008.obj
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index 0000000000000000000000000000000000000000..3f685d1faea95126e31727c9c5fdc69cc9b9c90f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54165435f205ce8575c60543aea16357d1cee20
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision.obj
@@ -0,0 +1,10072 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_0.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1189e79dad970e0ef55c4a2ce4338ec8791be8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_1.obj b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3936edb1ef5984af0308b47c76931bb4086178
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/mesh/stamp_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/stamp_008.xml b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/stamp_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ecd1fb63c5b088fe3bfc15a04d4e67a84e3e5dc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mjcf/stamp_008.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.urdf b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..927ea2dc2a7074648eae3604a164115b6555f9ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_008">
+   <link name="stamp_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_008.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_008_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>f4984c87dffb54dbb77efad5baf886aa</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>cylindrical stamp</name>
+         <color>black,brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical stamp with engraved base and smooth top surface</description>
+         <min_height>0.1186</min_height>
+         <max_height>0.1186</max_height>
+         <real_height>0.1186</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211657</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/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4912827a6f50119908c3a78c9420b767b4f81498ce2a4f639910d42ac350b13
+size 4554133
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/textures/material_0.png b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11239736
diff --git a/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/video.mp4 b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d9efd2285edd3a69e3f1e278eb910fe529cebdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed3d84a7d3d23387ba5fa39859f36c7faac6357c89e388f56a288963d1013e8
+size 157234