diff --git a/.gitattributes b/.gitattributes
index 638176d2a68513852d6b2b92466c1253149ab9dc..66c4af7699efbfdb7b86f91f82fee08e38a51ebd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3308,3 +3308,5 @@ dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/stap
 dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/mesh/scotch_tape_001.glb filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material.mtl b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3256d5b7083123fcb414f4edd32d10deeb720398
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f2de74cfaed62881a75a8bc9339fa88cefd216
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d59204682f83bdfa6d0ef3a11b49d84c3a64ea4082b88dc0c6d23aec454f24
+size 10323345
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.glb b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a028dc1846462e672af5e2d74155eab7f01c9040
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3aaa91855c8c81b795aed0d6bb7c9f6d1e286b635819b5f8a43b2b7acce8ff5
+size 13594144
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.mtl b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f842aa679485fd33858a93669007ee3986a89c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_027_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/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cffe9ad7ada95b5a531051390887f946794e146
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027.obj
@@ -0,0 +1,106764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_collision.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e102d1e0e15057db446fca210584b983d23f10a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f2de74cfaed62881a75a8bc9339fa88cefd216
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mesh/stamp_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d59204682f83bdfa6d0ef3a11b49d84c3a64ea4082b88dc0c6d23aec454f24
+size 10323345
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f2de74cfaed62881a75a8bc9339fa88cefd216
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d59204682f83bdfa6d0ef3a11b49d84c3a64ea4082b88dc0c6d23aec454f24
+size 10323345
diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6072d772e6cc647fe2a6fc927e0c21ccc7830e19
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027.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/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437b804cf2bf67776bfe2841f5e481c3d8391ba0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision.obj
@@ -0,0 +1,14658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_0.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a97ec6c348472cc7717605716a216ad5525c282
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_0.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_1.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4340251b8a8e22eb2f01568522e55e35574cdb87
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_2.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ac52d2ed8cb147345854459c2fc2214a40da2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_3.obj b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..656ab38a87a67c2720121d7eaa6c329d311ee48f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/mesh/stamp_027_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/stamp_027.xml b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/stamp_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..390d71b388e34c3ea0ac1658c418d7a016ff0279
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/mjcf/stamp_027.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_027">
+      <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/0734907109065200b7f5938bf67f13f9/stamp_027.urdf b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/stamp_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e87a5144745b7186161e50ee2c3b651499c7f98
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/stamp_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_027">
+   <link name="stamp_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>0734907109065200b7f5938bf67f13f9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>rubber stamp</name>
+         <color>purple,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>purple-handled rectangular office stamp with dark base</description>
+         <min_height>0.0602</min_height>
+         <max_height>0.0602</max_height>
+         <real_height>0.0602</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174742</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025011 -0.014689 -0.024279</min>
+            <max>0.024989 0.016180 0.035917</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/0734907109065200b7f5938bf67f13f9/stamp_027.usd b/dataset/desktop_supplies/office_tools/0734907109065200b7f5938bf67f13f9/stamp_027.usd
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