diff --git a/.gitattributes b/.gitattributes
index d6e1b51827d36dce33e43ea4b5b1377c91fe1838..7fbab32efde0b775b087ed42adcfc7f7b3bec158 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3411,3 +3411,5 @@ dataset/desktop_supplies/office_tools/a15c9fd8d6b558abb9e2249766af05f0/mesh/magn
 dataset/desktop_supplies/office_tools/a1e8baec13885edea3e8d0bf6f88f9b8/a1e8baec13885edea3e8d0bf6f88f9b8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/mesh/scotch_tape_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/scotch_tape_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26b847725a09a1691e01f40aed017af39063f2c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1347d06b195361e031080f6f7e3c28e328c19cbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7f375f61f915cb260981b552139fb0f2b86c3fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15915544
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.mtl b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0594b4f2d8eb35f7af10fbcfea69daa628078b58
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_001_geometry_Looks_material_0
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+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/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75afcafa6c5de5889d67457fdb73d541be403994
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.obj
@@ -0,0 +1,103216 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_collision.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237db8bfb0595ae9ea5380932dbfdce2dd5df929
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_collision.obj
@@ -0,0 +1,12634 @@
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1347d06b195361e031080f6f7e3c28e328c19cbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 13186786
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1347d06b195361e031080f6f7e3c28e328c19cbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9bf9860efe04564b62c44594f30ee4dabdd3d84ceb42c64578d0340de1e06d0
+size 13186786
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81270387571a9fb7b9f745bcc5272a9f888d362
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+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482141e4fd44f8b738594a40b23ee6aad8a1d088
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision.obj
@@ -0,0 +1,12634 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_0.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461afcd2ed5eabdcd96970e9e112d7b573dd8b8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_1.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a595b96efd7d16c68aabf031f7bea6a8cfeed4ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_2.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f08ca50066ee231ad630351c6b6da8662143bc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_3.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7ac8fe21d51a487da94865d31c1fb0b77981a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_3.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_4.obj b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c916ba316d38e6e7a116a2010ed69fab909e3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/mesh/stamp_001_collision_4.obj
@@ -0,0 +1,889 @@
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/stamp_001.xml b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/stamp_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc65efb9211ee3db3bf92d4c5c257aaf71383cb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mjcf/stamp_001.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_001">
+  <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_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.urdf b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ff67fb3c399833e339a3583e369af4aa625f977
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_001">
+   <link name="stamp_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_001.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_001_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>a2149668ce705fc5b60bf651272781f1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>wooden stamp</name>
+         <color>light brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>wooden stamp with rectangular base and rounded handle</description>
+         <min_height>0.0871</min_height>
+         <max_height>0.0871</max_height>
+         <real_height>0.0871</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414150011</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/a2149668ce705fc5b60bf651272781f1/stamp_001.usd b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/textures/material_0.png b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/video.mp4 b/dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/video.mp4
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