diff --git a/.gitattributes b/.gitattributes
index defbfc0d18a297ffe4af3255f3669b97a522431b..5491dc0d8380b0b676e019b838df24c2979a0082 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3336,3 +3336,5 @@ dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/sticky_no
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/magnifier_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/mesh/magnifier_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material.mtl b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0016119f008b167cf9074d3a46c291980955cf9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material_0.png b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f439bca0ca3bd508d42fa88b2213a38e4da5187c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a535e7fbee3ac849d5a1596d2db8ed0dca1a8241d7fc7f56d5845fc757893a3
+size 9840605
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.glb b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0cbb747fabe901f33941d4f352d0fe2ff3123864
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6feff074b93f617041728258311b5c33ba1aa3af3add02e2f666a095f1cefd82
+size 13037264
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.mtl b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d25ed99dee2aca21be3c7dd04d5edd3e382c5ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_006_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/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b680f6b994f5cd7ed39035d48ae6961346b1c2b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006.obj
@@ -0,0 +1,113158 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_collision.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0148c425757e16d5fc549a30058bafabf147dcd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f439bca0ca3bd508d42fa88b2213a38e4da5187c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mesh/stamp_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a535e7fbee3ac849d5a1596d2db8ed0dca1a8241d7fc7f56d5845fc757893a3
+size 9840605
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f439bca0ca3bd508d42fa88b2213a38e4da5187c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a535e7fbee3ac849d5a1596d2db8ed0dca1a8241d7fc7f56d5845fc757893a3
+size 9840605
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af825c64afb0623be1dfcca47c994493fc5e737
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006.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/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3602fe4f114fc6ff3a10a64e202a930d41e5448d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision.obj
@@ -0,0 +1,6747 @@
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_0.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b977448374ed8347beebba13002b51478c788aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_1.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c50445b7934a723493ecc2bce0c9c4ea9d12bdaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_2.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e246af71861c9c3eb7aeb6594cdb61f5f719ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_3.obj b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5c6bfc57800d60bdaa2f4109d62dc41b1a7bc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/mesh/stamp_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/stamp_006.xml b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/stamp_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..21612e7547732b93f71a0c6bd504d3579f41cb59
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/mjcf/stamp_006.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_006">
+      <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/28b2993433b6505284e2bc01111ebf0c/stamp_006.urdf b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc105155ccd7a2db4573fc5bdc8fa2d74dde27c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_006">
+   <link name="stamp_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>28b2993433b6505284e2bc01111ebf0c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>cylindrical stamp</name>
+         <color>black,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical stamp with black handle and red base</description>
+         <min_height>0.1229</min_height>
+         <max_height>0.1229</max_height>
+         <real_height>0.1229</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211611</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>6</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>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.usd b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/stamp_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031af724cb90c4608910d99c797094ee298771ff12a7e546b04a5623a86a9810
+size 4816069
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/textures/material_0.png b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9840605
diff --git a/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/video.mp4 b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28b2993433b6505284e2bc01111ebf0c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac5cc63387d0c9d9e9598c3046f662db3d5da1ce34fceea90b43346b256ea13
+size 83361