diff --git a/.gitattributes b/.gitattributes
index 00ff52cbc05d44affb5fa11ae9e7ab32165667f7..a969299367649408f2fdb4dadf55d426eff11a78 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3465,12 +3465,5 @@ dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_b
 dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/staples_box_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/magnifier_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/mesh/magnifier_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/mesh/sticky_notes_045.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f0255b77dd055a119735a64e9e86a637/sticky_notes_045.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material.mtl b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bb374ad304e2c293b747b47d6bdb8d178ff5a86
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_030_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stamp_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6de34104885eb6462f1e108dd82954b19fcb6ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3903e6726efbc1affa32fec92aafefe8603547129df651ff81fe1a8b19b1cd
+size 9093166
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.glb b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5e624ad01735270b7a877bf742070c1de72ba85f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12440912
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.mtl b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..868b1743efe5d066e3aa01a72518e4b9a12e7bab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.mtl
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+newmtl stamp_030_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/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c340be3cd3ff3791aa59a59e65ce1c02b032c9c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030.obj
@@ -0,0 +1,110276 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030_collision.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef59abd05b190d364ca218af9662dbcdb9f3871
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030_collision.obj
@@ -0,0 +1,24522 @@
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mesh/stamp_030_geometry_Looks_material_0.png
new file mode 100644
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+size 9093166
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030.obj
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+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95735ef357c059fdd487495d71fbe4f2dc26be66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision.obj
@@ -0,0 +1,24522 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_0.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7530cb0a693daf30e2f36dd54efd8ffab5bd7042
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_1.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc512d68fc1c4045c0ba65b1d052e427cd0b4d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_1.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_10.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755ed31f6919a0eb5f1110f593375a2d1f81f584
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_10.obj
@@ -0,0 +1,970 @@
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_11.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4515b3cf5c3efd414295f58673857e68934da2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_12.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c631f1ca5f1067631c1030f6d92ab4d54a6b3e18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_13.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29aa4eb2381e65332f15ef07178a7b3c4af03b2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_13.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_14.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..459ea9b086939231f134f87279c549bda90829a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00823545 0.00266219 0.03662581
+v 0.00550994 0.00266219 0.03650972
+v 0.00550994 0.00254527 0.03650972
+v 0.00823545 -0.00000994 0.03661358
+v 0.00823545 0.00266229 0.00849475
+v 0.00550994 0.00266230 0.00542136
+v 0.00550994 0.00152203 0.03650055
+v 0.00550994 0.00134391 0.03649138
+v 0.00550994 -0.00000994 0.03639667
+v 0.00823545 -0.00000984 0.00782263
+v 0.00823545 0.00254537 0.00842449
+v 0.00731067 0.00156609 0.00542136
+v 0.00721302 0.00196759 0.00542136
+v 0.00704733 0.00244677 0.00542136
+v 0.00694967 0.00266230 0.00542136
+v 0.00550994 -0.00000983 0.00542135
+v 0.00746676 -0.00000983 0.00542135
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+v 0.00823545 0.00182999 0.00809148
+v 0.00732241 0.00149730 0.00542136
+v 0.00746703 0.00049943 0.00542135
+v 0.00823545 0.00049942 0.00781652
+v 0.00823545 0.00165292 0.00803649
+v 0.00746516 0.00051774 0.00542135
+v 0.00823545 0.00121297 0.00791428
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_15.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e55f3a6c32dab4a65f89db0f03684f7d4b7c27
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_15.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00354169 -0.00775447 0.03662500
+v 0.00354169 -0.00645165 0.03650711
+v -0.00448496 -0.00775270 0.03711522
+v -0.00378962 -0.00775448 0.03679875
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_16.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8820c1e76f0d77cf4592787c1e5d0556e6ff1e8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_16.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00072060 0.00759534 0.03650974
+v -0.00487456 0.00759533 0.03699187
+v 0.00072060 0.00663752 0.03650973
+v 0.00072060 0.00759545 0.00656184
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_17.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910267e22a7ac6ae318587d367b54f415eee32c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_17.obj
@@ -0,0 +1,721 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_18.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21a169ce0d101acb0cdde1a9fc6c6416a13223f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_19.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f6266813679cf90dc2806b7033475d2a764f38
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_2.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6554a38a846f6e81c68e852b4ca18631591e598a
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_20.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d491aba46662e777562f2f42511d41c8f5db6c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_21.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ffc62693b9e09196bdb169719f62aae875e6b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_21.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_3.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f8e15d1bad88dbe9a7528a42c948c3298e7f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_3.obj
@@ -0,0 +1,2164 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_4.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccdf7a9f8cdfcdd371273842b22590f583f38b9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_4.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00354201 -0.00555575 0.00541827
+v 0.00354201 -0.00000983 0.00541829
+v 0.00499349 -0.00555575 0.00541827
+v 0.00354201 -0.00555586 0.03650569
+v 0.00682085 -0.00000983 0.00541829
+v 0.00354201 -0.00000994 0.03650571
+v 0.00532058 -0.00527509 0.00541827
+v 0.00682085 -0.00555576 0.00873760
+v 0.00682085 -0.00555586 0.03664323
+v 0.00682085 -0.00296845 0.00541828
+v 0.00682085 -0.00000994 0.03644458
+v 0.00363766 -0.00000994 0.03650571
+v 0.00583062 -0.00465839 0.00541827
+v 0.00623762 -0.00414973 0.00541827
+v 0.00654191 -0.00359275 0.00541828
+v 0.00682085 -0.00144094 0.03650570
+f 1 2 5
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+f 6 9 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 9 16 12
+f 11 12 16
+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_5.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6a403cf617583a49038d4a4e8efaf02e910bc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_5.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00072107 -0.00000915 0.00541829
+v 0.00072107 0.00692242 0.00541832
+v 0.00550947 -0.00000915 0.00541829
+v 0.00072107 -0.00000927 0.03701040
+v 0.00283586 0.00692242 0.00541832
+v 0.00072107 0.00692231 0.03650927
+v 0.00550947 0.00504415 0.00541831
+v 0.00550947 -0.00000926 0.03639717
+v 0.00072107 0.00010201 0.03705709
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_6.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabda85197b9a9c89f7867c75c38524eb2d77d19
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_6.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_7.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253bf378d48f8eabcad2866d0eda450258810492
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_7.obj
@@ -0,0 +1,871 @@
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_8.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662e52e13651cd62a69bd2ae6e1f0143108cb73f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_8.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00072060 0.00049940 0.03721797
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+
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_9.obj b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f9fc55259ca4f40f67302d8d81ed53b3179fd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/mesh/stamp_030_collision_9.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/stamp_030.xml b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/stamp_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..be3fe0c879ef49c018fee31e65f7091881e7fdea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/mjcf/stamp_030.xml
@@ -0,0 +1,58 @@
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+    <mesh name="collision_mesh_0_19" file="mesh/stamp_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stamp_030_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stamp_030_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_030">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" 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/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.urdf b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d0f8064aaaab5450cfa50b9d4df1a9d4ec9cc3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_030">
+   <link name="stamp_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_030.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_030_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>ef4fe23ce126577382ae64fdb79b00b8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>rubber stamp</name>
+         <color>black,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>red-handled black round stamp with broad circular base</description>
+         <min_height>0.0624</min_height>
+         <max_height>0.0624</max_height>
+         <real_height>0.0624</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174848</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022451 -0.022347 -0.023097</min>
+            <max>0.022549 0.022322 0.039286</max>
+         </aabb>
+         <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/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.usd b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..764e153bee522db3b51cebbb726707b1c454ea9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:749949f196783b4e5a3d7f4a7f17c413685d72c8218c1a037e3133966245e4bf
+size 4906931
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/textures/material_0.png b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6de34104885eb6462f1e108dd82954b19fcb6ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3903e6726efbc1affa32fec92aafefe8603547129df651ff81fe1a8b19b1cd
+size 9093166
diff --git a/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/video.mp4 b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42d956df0e6f9950a5b59d4afccf1246272ac177
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc45ac138244b143fac15466e26303b860bced7c98baba953fc363ec74cae08
+size 163698