diff --git a/.gitattributes b/.gitattributes
index 7d2a13dd75ed32877f3c710dfd52ac9ccccf5f25..f6020b763813f7e3d115fdcd73bec25722687517 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3465,3 +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
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material.mtl b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3267641ca70267a4c0b8158864f067c85207e0b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a70b169e5e93b06bd91e67dff4617b1956fde
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f953dc7e507c5423ed0359fc485b96a3c63458514bd977fc04f23acbf7ee859
+size 11095224
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.glb b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..15b9fd00c4c0eb2e0a262f8420630ed64bf82478
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29fc9d281c058b566db11afda006c9816838d30c81a2030c10ffbf46ca25edad
+size 14438936
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.mtl b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10583c2fa88fb67a77161ba5532f7837cd361deb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_010_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/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cbb0f2bdc287b88891160a1d3c5649a829b09f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.obj
@@ -0,0 +1,112678 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_collision.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17105ba07e409c861745c330313ee4a5df3a3c9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_collision.obj
@@ -0,0 +1,9577 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a70b169e5e93b06bd91e67dff4617b1956fde
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2f953dc7e507c5423ed0359fc485b96a3c63458514bd977fc04f23acbf7ee859
+size 11095224
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6a70b169e5e93b06bd91e67dff4617b1956fde
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2f953dc7e507c5423ed0359fc485b96a3c63458514bd977fc04f23acbf7ee859
+size 11095224
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010.obj
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index 0000000000000000000000000000000000000000..53cc87aa69b4a028eb02fdbcf9f4931c62f715c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010.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/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b75b175565548e5e49a69c446d5237e372d1c14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision.obj
@@ -0,0 +1,9577 @@
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_0.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b8f6718ff0358288f0a85b5ff885203f46f8e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_1.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da72ca343ddcf5174d77cc97aac40cdb51aac90d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_2.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f02dcb8e8441ca371930b6a3649028ada939f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_3.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e14584e3d6a81bd29bb7a95752cd85031ecd2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_4.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b752039cf1407943816552e8cba493b64a215b0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_5.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2be3846f81df3c6ec31f6b37d3022ff31a11233
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_5.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_6.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9741ac3dceef0a7d04c7e2efae75fdb5cb94a0e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_6.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_7.obj b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8254b11031a52eb76ebcf5fe7fb7cf37ebcc6255
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/mesh/stamp_010_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/stamp_010.xml b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/stamp_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aa7b327b9235f11e0123722dab4bd723ce435805
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mjcf/stamp_010.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stamp_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stamp_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stamp_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.urdf b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f0a74e915e04639b5fdbda744d8f414ff641645f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_010">
+   <link name="stamp_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</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>ef2db10209f55fc78bbef933468ad63c</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 base and red transparent top</description>
+         <min_height>0.1180</min_height>
+         <max_height>0.1180</max_height>
+         <real_height>0.1180</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211742</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..915364761c0cd459dcf2aabeef9644c8661a940e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:e89e35c11345666292785362ed79b7b3def136119389e36700acdadee7b9aae7
+size 4909838
diff --git a/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/textures/material_0.png b/dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/textures/material_0.png
new file mode 100644
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