diff --git a/.gitattributes b/.gitattributes
index b944da83fa836df91048ab784b7e8a45f2c5735f..92eec5e1cb077b20c4fab9e0659311a4762d9272 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3393,3 +3393,5 @@ dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/penc
 dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/88b988087418513781220752c856b16d/mesh/scissors_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/88b988087418513781220752c856b16d/scissors_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material.mtl b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7e2adb5bf8b84ae76507f25401d3f3c79c5d962
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material_0.png b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1317f64f7daffc6f0d4031983f73f53976aa6709
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee28f6272995292b45dbcb3c83774de7b5f213dd292a76252f02b58b0db166a2
+size 9437705
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.glb b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05752a9457764a227237dccc5e6ff11df5e4e174
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60df28e752990775128825e4d116bdd52071c49a62f0e3f2c4fccb2a3a6fcab0
+size 12626592
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.mtl b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..763d3d5193b8a546dc48b1241e5002bfe05ebb63
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_014_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/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d1a74d457827d8a86b3cac91baf7a18d47825d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014.obj
@@ -0,0 +1,111880 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_collision.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6630d8418ba5a76aa34f0b4a6789f6a2e9db9ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_collision.obj
@@ -0,0 +1,8410 @@
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1317f64f7daffc6f0d4031983f73f53976aa6709
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mesh/stamp_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee28f6272995292b45dbcb3c83774de7b5f213dd292a76252f02b58b0db166a2
+size 9437705
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1317f64f7daffc6f0d4031983f73f53976aa6709
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee28f6272995292b45dbcb3c83774de7b5f213dd292a76252f02b58b0db166a2
+size 9437705
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afce7e28b2ef92b926444445340d80d7ce26b0d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9008762c5f45863865807e20169259cd70d5f91c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision.obj
@@ -0,0 +1,8410 @@
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_0.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65943356dd6d19793d248dcd6230b66d88e77e32
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_1.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f29779fec9a21e52a8767e36665c6565dbc19ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_1.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_10.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3c0a838122b6b313b07e116f31cfce1ec349c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03094792 0.02020662 -0.04498702
+v -0.03094792 0.02016971 -0.03662338
+v -0.02944860 0.02015742 -0.03662338
+v -0.02944860 0.02019338 -0.04498702
+v -0.03244725 0.01982469 -0.04498702
+v -0.03244725 0.01979156 -0.03662338
+v -0.02838310 0.01964408 -0.03662338
+v -0.02840003 0.01970557 -0.04498702
+v -0.03252660 0.01978876 -0.04498702
+v -0.03337731 0.01938033 -0.03662338
+v -0.03304507 0.01952780 -0.03662338
+v -0.02411473 0.01349072 -0.03662340
+v -0.02392533 0.01367132 -0.04498704
+v -0.02830797 0.01966114 -0.04498702
+v -0.03339530 0.01939549 -0.04498702
+v -0.03363655 0.01906836 -0.03662338
+v -0.02411473 0.01278075 -0.03662340
+v -0.02377402 0.01251514 -0.04498704
+v -0.03406508 0.01858059 -0.04498702
+v -0.03410528 0.01850493 -0.03759188
+v -0.03410211 0.01850492 -0.03662338
+v -0.02416235 0.01251699 -0.03662340
+v -0.02377720 0.01250947 -0.04498704
+v -0.02424911 0.01204053 -0.03662341
+v -0.03412645 0.01850496 -0.04498702
+v -0.03427035 0.01797741 -0.03662338
+v -0.02482154 0.01120581 -0.04498705
+v -0.02473160 0.01160471 -0.03662341
+v -0.03458354 0.01702452 -0.04498703
+v -0.03458037 0.01702450 -0.04210528
+v -0.03457296 0.01702448 -0.03662339
+v -0.02499930 0.01136365 -0.03662341
+v -0.02600978 0.01054874 -0.03662341
+v -0.02590186 0.01054878 -0.04498705
+v -0.03384605 0.01547507 -0.04498703
+v -0.03384711 0.01561778 -0.03662339
+v -0.02902642 0.01054874 -0.03662341
+v -0.02938934 0.01054878 -0.04498705
+v -0.03382383 0.01543253 -0.04498703
+v -0.03322389 0.01469420 -0.04498704
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 13
+f 1 13 18
+f 1 18 23
+f 1 23 27
+f 1 27 34
+f 1 34 38
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+f 29 35 30
+f 30 35 31
+f 31 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 36 40 38
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_11.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9bcb8fef854ffd3b5cc68c3d53d9a3cd9be68f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_11.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02492370 -0.00997501 -0.03270023
+v -0.02496043 -0.00997501 -0.03269792
+v -0.02455223 -0.01095593 -0.03269792
+v -0.02435390 -0.01219816 -0.03662349
+v -0.02633823 -0.00997500 -0.03662349
+v -0.02921661 -0.00997501 -0.03269792
+v -0.02415243 -0.01219516 -0.03269792
+v -0.02410101 -0.01293888 -0.03662350
+v -0.02902248 -0.00997500 -0.03662349
+v -0.03422938 -0.01560126 -0.03269794
+v -0.02407792 -0.01258210 -0.03269793
+v -0.02410101 -0.01357105 -0.03662350
+v -0.03383797 -0.01562235 -0.03662351
+v -0.03409926 -0.01612387 -0.03662351
+v -0.03456937 -0.01702841 -0.03662351
+v -0.03467221 -0.01653696 -0.03269794
+v -0.02408527 -0.01369971 -0.03269793
+v -0.02449977 -0.01466757 -0.03269793
+v -0.02540011 -0.01625253 -0.03269794
+v -0.02428255 -0.01383538 -0.03662350
+v -0.03479288 -0.01787065 -0.03269795
+v -0.03479813 -0.01784352 -0.03269795
+v -0.03475196 -0.01702842 -0.03269794
+v -0.03411080 -0.01850885 -0.03662352
+v -0.02461100 -0.01431177 -0.03662350
+v -0.02831522 -0.01966164 -0.03269795
+v -0.02837713 -0.01965058 -0.03662352
+v -0.03429654 -0.01860534 -0.03269795
+v -0.03338045 -0.01938424 -0.03662352
+v -0.03356094 -0.01958426 -0.03269795
+v -0.02944852 -0.02019633 -0.03269795
+v -0.02944852 -0.02015813 -0.03662352
+v -0.03278022 -0.01964455 -0.03662352
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+v -0.03244653 -0.01997321 -0.03269795
+v -0.03091657 -0.02024256 -0.03269795
+v -0.02998264 -0.02016014 -0.03662352
+v -0.03094805 -0.02016215 -0.03662352
+f 1 2 3
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+f 10 15 16
+f 11 17 12
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+f 19 25 20
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+f 19 27 25
+f 21 24 28
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+f 26 32 27
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 31 36 32
+f 32 36 37
+f 34 38 35
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_12.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e0b9e9b133c54f6de53b11b1c24a6c08e114da9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.03477640 0.01784728 -0.03269781
+v -0.03463798 0.01840895 -0.03269781
+v -0.03457297 0.01702408 -0.03662339
+v -0.03477010 0.01702407 -0.03269782
+v -0.03355792 0.01957917 -0.03269781
+v -0.03337756 0.01938015 -0.03662338
+v -0.03363657 0.01906754 -0.03662338
+v -0.03410215 0.01850483 -0.03662338
+v -0.03384734 0.01561835 -0.03662339
+v -0.03431606 0.01589865 -0.03269782
+v -0.03291094 0.01985636 -0.03269781
+v -0.03244641 0.01979176 -0.03662338
+v -0.03402665 0.01547037 -0.03269782
+v -0.02901644 0.00960364 -0.03662341
+v -0.03244641 0.01997307 -0.03269781
+v -0.03094796 0.02016898 -0.03662338
+v -0.03191267 0.01992618 -0.03662338
+v -0.02921148 0.00960363 -0.03269784
+v -0.02638970 0.00960364 -0.03662341
+v -0.03141878 0.02020857 -0.03269781
+v -0.03091755 0.02024817 -0.03269781
+v -0.02978192 0.02024087 -0.03269781
+v -0.02944846 0.02015752 -0.03662338
+v -0.02500870 0.00960363 -0.03269784
+v -0.02424951 0.01203995 -0.03662341
+v -0.02944846 0.02019815 -0.03269781
+v -0.02864419 0.01981363 -0.03269781
+v -0.02838309 0.01964379 -0.03662338
+v -0.02450537 0.01044873 -0.03269784
+v -0.02411424 0.01278085 -0.03662340
+v -0.02409222 0.01221396 -0.03269784
+v -0.02832332 0.01965732 -0.03269781
+v -0.02813352 0.01945204 -0.03269781
+v -0.02544701 0.01621231 -0.03269782
+v -0.02411424 0.01349048 -0.03662340
+v -0.02406391 0.01329144 -0.03269783
+v -0.02419498 0.01386770 -0.03269783
+v -0.02409851 0.01364991 -0.03269783
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 18
+f 1 18 24
+f 1 24 29
+f 1 29 31
+f 1 31 36
+f 1 36 38
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+f 1 37 34
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+f 1 33 32
+f 1 32 27
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+f 1 22 21
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+f 1 20 15
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+f 1 5 2
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+f 3 16 23
+f 3 23 28
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+f 3 30 25
+f 3 25 19
+f 3 19 14
+f 3 14 9
+f 5 11 12
+f 5 12 6
+f 9 13 10
+f 9 14 13
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 14 18
+f 14 19 24
+f 14 24 18
+f 15 20 16
+f 16 20 21
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+f 16 22 23
+f 19 25 24
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 25 29
+f 25 30 31
+f 25 31 29
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 30 35 36
+f 30 36 31
+f 34 37 35
+f 35 37 38
+f 35 38 36
+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_13.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf73ee4b21c00ad7f1623d57c046a9523c9f67b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_13.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.02495127 -0.02415278 0.03011693
+v -0.02196328 -0.02414805 0.03011693
+v -0.02196328 -0.02397786 0.03162068
+v -0.02495127 -0.02397786 0.03162068
+v -0.02667087 -0.02414805 0.03011693
+v -0.02667087 -0.02414792 -0.00470487
+v -0.02196328 -0.02414792 -0.00449565
+v -0.02196328 -0.02366582 0.03364749
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_14.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1973a4d85e9b32229c5f95c62154a9fa4f9bd78
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_15.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d45685df20afc167c2ac12185e5b55d0978fe7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_16.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a5f8365ecb2fa894a6f387cc46459b404ebd96
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_2.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85fa807be514dbad29dc040c8c552da90fdff250
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_3.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ed6c1ebbc01108e8b68777a6b88735f9fe8b57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02378849 -0.01258598 -0.04602979
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_4.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce6c0de0fc02789a5a0d01cc9be60bc043a3ac3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_4.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+v 0.02453920 0.01258190 -0.03662432
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_5.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a10fbb70cd110ad3272a95b8ac1d0ba4f7cd26c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_5.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_6.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6f296034337479df0f73678f1370e8ac85beae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_6.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02425425 0.01258047 -0.03281451
+v 0.02428491 0.01284985 -0.03281451
+v 0.02453941 0.01258048 -0.03662303
+v 0.02426038 -0.01220269 -0.03281460
+v 0.02463242 0.01446218 -0.03281451
+v 0.02472849 0.01345597 -0.03662303
+v 0.02457314 -0.01258298 -0.03662313
+v 0.02426651 -0.01258299 -0.03281461
+v 0.02483377 0.01393927 -0.03662303
+v 0.02491758 0.01513564 -0.03281450
+v 0.02481639 -0.01402497 -0.03662313
+v 0.02455065 -0.01419532 -0.03281461
+v 0.02506067 0.01542879 -0.03281450
+v 0.02800428 0.01960818 -0.03662301
+v 0.02494313 -0.01529266 -0.03281462
+v 0.02800428 -0.01960673 -0.03662315
+v 0.02555434 0.01629240 -0.03281450
+v 0.02793989 0.01961610 -0.03281449
+v 0.02902023 0.02013110 -0.03662301
+v 0.02780906 -0.01948393 -0.03281463
+v 0.02902023 -0.02011776 -0.03662315
+v 0.02793989 -0.01961862 -0.03281463
+v 0.02879742 0.02004790 -0.03281449
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+v 0.03437494 -0.01702779 -0.03662314
+v 0.03436574 -0.01761409 -0.03662314
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+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_7.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547cebde09d9efb03bef47ce94b546b63f2577a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_7.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.02921630 -0.00997501 -0.03269792
+v -0.02902172 -0.00997500 -0.03662349
+v -0.02496035 -0.00997501 -0.03269792
+v -0.02921125 0.00960259 -0.03269784
+v -0.02633795 -0.00997500 -0.03662349
+v -0.02901584 0.00960260 -0.03662341
+v -0.02492336 -0.00997501 -0.03270023
+v -0.02492463 -0.00996543 -0.03269792
+v -0.02500826 0.00960259 -0.03269784
+v -0.02638964 0.00960260 -0.03662341
+f 1 2 5
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+f 1 7 3
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+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 10 7
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_8.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a508711d3efb2035b5f4348687d93452493bea0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_8.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02600974 0.01054874 -0.03662341
+v -0.02590150 0.01054878 -0.04498705
+v -0.02902524 0.01054874 -0.03662341
+v -0.02608452 -0.01065157 -0.03662349
+v -0.02596467 -0.01065153 -0.04498713
+v -0.02938993 0.01054878 -0.04498705
+v -0.02902866 -0.01065157 -0.03662349
+v -0.02938788 -0.01065153 -0.04498713
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 7
+f 4 7 8
+f 4 8 5
+f 6 8 7
+
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_9.obj b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabe7c3dcc9df588d889fcce0ddc82bed2471f5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/mesh/stamp_014_collision_9.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02596429 -0.01065153 -0.04498713
+v -0.02608485 -0.01065157 -0.03662349
+v -0.02490466 -0.01126336 -0.04498713
+v -0.02938747 -0.01065153 -0.04498713
+v -0.02510348 -0.01146049 -0.03662349
+v -0.02409038 -0.01180046 -0.04498713
+v -0.02902897 -0.01065157 -0.03662349
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+v -0.02944881 -0.02018768 -0.04498716
+v -0.03094731 -0.02016157 -0.03662352
+f 1 2 3
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/stamp_014.xml b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/stamp_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..726a76e3c61cb5bcf1f3beb6b8e990414871c2df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/mjcf/stamp_014.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stamp_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stamp_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stamp_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stamp_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stamp_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stamp_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stamp_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stamp_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stamp_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stamp_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stamp_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stamp_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_014">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" 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/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.urdf b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a81622fc9490fefc0848559a60e7ce43a28b861a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_014">
+   <link name="stamp_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>8bf9c6960fa057fa8153ccdca1fa5e6c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>self-inking stamp</name>
+         <color>black,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular self-inking stamp with black body and red transparent base</description>
+         <min_height>0.0915</min_height>
+         <max_height>0.0915</max_height>
+         <real_height>0.0915</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174227</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038375 -0.024033 -0.054092</min>
+            <max>0.037939 0.024029 0.037373</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.usd b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/stamp_014.usd
new file mode 100644
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+size 4817685
diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/textures/material_0.png b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/video.mp4 b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/video.mp4
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+++ b/dataset/desktop_supplies/office_tools/8bf9c6960fa057fa8153ccdca1fa5e6c/video.mp4
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+version https://git-lfs.github.com/spec/v1
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