diff --git a/.gitattributes b/.gitattributes
index 6412fe49332ed32fa61b82d2451b745d6988c5eb..56a1b82c9729c4dbd36b8319f8c90282c663fc16 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3470,7 +3470,5 @@ dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier
dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/mesh/stamp_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/stamp_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.urdf b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.usd b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.usd
new file mode 100644
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.mtl b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf868a3647378dc50656ab4089ab406b4e9051d
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_collision.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9734ae8b1417a0268edbc300af1f58a4a644b079
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..878af4631d7572329928054c20fbbe99daa1d8e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe840f9214d49605f8e9d6156d765e45660dc76a2a0146a2a76308d4d5be2c1
+size 7484051
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material.mtl b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..686c324a590dcec5b0e2df76b0297829a31f6a89
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_024_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
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material_0.png b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe840f9214d49605f8e9d6156d765e45660dc76a2a0146a2a76308d4d5be2c1
+size 7484051
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/magnifier_024.xml b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/magnifier_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e0d24c05d48e22484226e4c0e90b0f0768eaffa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/magnifier_024.xml
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20d753b362498c9f5d17a07ae3069a7d30b05576
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a4098e205e1e17f1638543154120bd5f4423db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision.obj
@@ -0,0 +1,10402 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_0.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbb468545a30877f66c09b526cb56846435ec7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_1.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bc953b237a6b1142c2ad8b3b179be827af2a0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_10.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7804f55f9dd35594f764ac6f900e01d85593365
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_10.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_11.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5707b8fb12ba04e8ec1b458611575ba952ff7616
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_11.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_12.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b383ca3abd0494c36c8c33c83b81ee13195be25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_12.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_13.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5c0369e268ff89802315e9b81f2067354b9ce7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_14.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea30be48c0f64ef45dfa2a4e8d9e979c78e55632
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_14.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_15.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c21c398a1493c587c4f5c67be35ad5d0bec8631
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_15.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_16.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd85424fbdb7263e0cfb63a9ec3b444d208c421
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_16.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_17.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4187b0243d6855d05eb87779ae85c2db51984d92
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_17.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_18.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75017c532453399cae1739afebd62058a73d2934
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_19.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d05780a72a0651d5e835d82552520dcf2086e7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02541864 0.03983620 0.00420747
+v 0.01494700 0.03983620 0.00438634
+v 0.01494700 0.03900761 0.00457912
+v 0.01494700 0.03764443 0.00486188
+v 0.01494700 0.03752923 0.00488330
+v 0.01494700 0.03580964 0.00519176
+v 0.01494700 0.03403898 0.00547345
+v 0.01506180 0.03403898 0.00546167
+v 0.01767766 0.03403898 0.00515642
+v 0.01876213 0.03403898 0.00501503
+v 0.01980151 0.03403898 0.00487151
+v 0.02115864 0.03403898 0.00465837
+v 0.02414351 0.03403898 0.00413569
+v 0.02541864 0.03403899 0.00387756
+v 0.02541864 0.03983624 -0.00421326
+v 0.01494700 0.03983624 -0.00437178
+v 0.01494700 0.03403902 -0.00546857
+v 0.02541864 0.03403901 -0.00384698
+v 0.02312873 0.03403902 -0.00428290
+v 0.02110124 0.03403902 -0.00465992
+v 0.02075170 0.03403902 -0.00471776
+v 0.01974923 0.03403902 -0.00487199
+v 0.01776991 0.03403902 -0.00513976
+v 0.01697654 0.03403902 -0.00523401
+v 0.01514380 0.03403902 -0.00544822
+v 0.01494700 0.03604009 -0.00513869
+v 0.01494700 0.03687946 -0.00498980
+v 0.01494700 0.03757637 -0.00486341
+v 0.01494700 0.03812970 -0.00474988
+v 0.01494700 0.03871879 -0.00462778
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 18
+f 1 18 15
+f 1 15 16
+f 1 16 2
+f 2 16 30
+f 2 30 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 17
+f 2 17 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 17 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 15 18 19
+f 15 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 17
+f 15 17 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 16
+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_2.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a546c9b465fbab28bb346d2d427eb73c42500c20
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.02067863 0.00997675 0.00647714
+v -0.02285754 0.00997675 0.00620343
+v -0.03006304 -0.01316520 0.00549500
+v -0.02067863 0.00966188 0.00647334
+v -0.02067863 0.00997679 -0.00646809
+v -0.02556466 0.00997675 0.00579668
+v -0.03006304 -0.01316516 -0.00514527
+v -0.02067863 -0.01316520 0.00441412
+v -0.02067863 -0.01209146 0.00462448
+v -0.02067863 -0.01140056 0.00474613
+v -0.02067863 -0.01041743 0.00490579
+v -0.02067863 -0.00862334 0.00517063
+v -0.02067863 -0.00805249 0.00524920
+v -0.02067863 -0.00533644 0.00558880
+v -0.02067863 -0.00259321 0.00587139
+v -0.02067863 0.00014776 0.00609695
+v -0.02067863 0.00289100 0.00626549
+v -0.02067863 0.00563424 0.00638335
+v -0.02067863 0.00837747 0.00645685
+v -0.02827361 0.00997675 0.00531389
+v -0.03006304 0.00997675 0.00495275
+v -0.02067863 0.00891438 -0.00645669
+v -0.02172767 0.00997679 -0.00633123
+v -0.02067863 0.00014780 -0.00609178
+v -0.02067863 -0.00205630 -0.00591693
+v -0.02067863 -0.00259317 -0.00587131
+v -0.02067863 -0.00479953 -0.00565210
+v -0.02067863 -0.00533640 -0.00559381
+v -0.02067863 -0.00754277 -0.00532265
+v -0.02067863 -0.00805019 -0.00525803
+v -0.02067863 -0.01040606 -0.00491464
+v -0.02067863 -0.01140505 -0.00475244
+v -0.02067863 -0.01170633 -0.00470302
+v -0.02067863 -0.01205518 -0.00463840
+v -0.02067863 -0.01316516 -0.00442173
+v -0.03006304 0.00997679 -0.00494117
+v -0.02827361 0.00997679 -0.00529724
+v -0.02714373 0.00997679 -0.00549745
+v -0.02556466 0.00997679 -0.00577495
+v -0.02443570 0.00997679 -0.00594602
+v -0.02285754 0.00997679 -0.00618298
+v -0.02067863 0.00869012 -0.00645416
+v -0.02067863 0.00837751 -0.00645036
+v -0.02067863 0.00617114 -0.00639334
+v -0.02067863 0.00563428 -0.00637941
+v -0.02067863 0.00342791 -0.00628438
+v -0.02067863 0.00289104 -0.00626030
+v -0.02067863 0.00068467 -0.00612600
+f 1 2 3
+f 1 3 4
+f 1 4 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 22
+f 1 22 5
+f 1 5 23
+f 1 23 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 21
+f 1 21 20
+f 1 20 6
+f 1 6 2
+f 2 6 3
+f 3 7 35
+f 3 35 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 4
+f 3 6 20
+f 3 20 21
+f 3 21 36
+f 3 36 7
+f 5 22 7
+f 5 7 23
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 31
+f 7 31 32
+f 7 32 33
+f 7 33 34
+f 7 34 35
+f 7 36 37
+f 7 37 38
+f 7 38 39
+f 7 39 40
+f 7 40 41
+f 7 41 23
+f 7 22 42
+f 7 42 43
+f 7 43 44
+f 7 44 45
+f 7 45 46
+f 7 46 47
+f 7 47 48
+f 7 48 24
+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_20.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ada7ca5b5cd7357ab1cb68774b7e905b5f9c00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02836074 0.00997674 0.00540702
+v 0.03789088 0.02117945 0.00456866
+v 0.02898483 0.01386266 0.00524507
+v 0.02898483 0.01660581 0.00514451
+v 0.02898483 0.01708670 0.00512017
+v 0.02898483 0.01928691 0.00499314
+v 0.02898483 0.01957907 0.00497409
+v 0.02898483 0.02117945 0.00484495
+v 0.02836074 0.00997678 -0.00540754
+v 0.02836074 0.00837636 0.00540066
+v 0.03789088 0.00997675 0.00366458
+v 0.03789088 0.02117949 -0.00457756
+v 0.02836074 0.00563579 0.00533714
+v 0.03655782 -0.00523081 0.00393235
+v 0.02898483 0.02117949 -0.00483374
+v 0.02898483 0.01660585 -0.00514711
+v 0.02898483 0.01607583 -0.00516722
+v 0.02898483 0.01386270 -0.00524662
+v 0.02836074 0.00851859 -0.00540120
+v 0.02898483 0.02117691 -0.00485174
+v 0.02898483 0.01956360 -0.00497666
+v 0.02898483 0.01925593 -0.00499783
+v 0.03789088 0.00997677 -0.00367251
+v 0.02898669 0.02117949 -0.00485174
+v 0.03655782 -0.00523079 -0.00397956
+v 0.02836074 0.00563583 -0.00533452
+v 0.02836074 0.00837640 -0.00540014
+v 0.02836074 0.00539017 0.00532761
+v 0.02836074 0.00289264 0.00522068
+v 0.02836074 0.00264702 0.00520586
+v 0.02836074 0.00022963 0.00505236
+v 0.02836074 -0.00110187 0.00494967
+v 0.02836074 -0.00213087 0.00486815
+v 0.02836074 -0.00259367 0.00482792
+v 0.02836074 -0.00356062 0.00473689
+v 0.02836074 -0.00522823 0.00456115
+v 0.02836634 -0.00523082 0.00455903
+v 0.02836074 -0.00523078 -0.00456178
+v 0.02836074 -0.00521785 -0.00456390
+v 0.02836074 -0.00259363 -0.00482748
+v 0.02836074 -0.00102685 -0.00495450
+v 0.02836074 0.00025812 -0.00505083
+v 0.02836074 0.00289268 -0.00521596
+v 0.02836074 -0.00523082 0.00416735
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 15
+f 1 15 9
+f 1 9 19
+f 1 19 27
+f 1 27 26
+f 1 26 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 44
+f 1 44 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 13
+f 1 13 10
+f 1 10 2
+f 2 11 23
+f 2 23 12
+f 2 12 24
+f 2 24 15
+f 2 15 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 10 13
+f 2 13 14
+f 2 14 11
+f 9 16 17
+f 9 17 18
+f 9 18 12
+f 9 12 19
+f 9 15 20
+f 9 20 21
+f 9 21 22
+f 9 22 16
+f 11 14 25
+f 11 25 23
+f 12 18 17
+f 12 17 16
+f 12 16 22
+f 12 22 21
+f 12 21 24
+f 12 23 25
+f 12 25 26
+f 12 26 27
+f 12 27 19
+f 13 28 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 35
+f 14 35 36
+f 14 36 37
+f 14 37 44
+f 14 44 38
+f 14 38 25
+f 15 24 20
+f 20 24 21
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 25 43 26
+f 36 44 37
+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_21.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c2776ae057ec14d9f39885dae61de4b695ac3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01127025 -0.01646213 0.00499224
+v -0.01178695 -0.01646213 0.00494727
+v -0.02067863 -0.02283048 0.00760375
+v -0.02067863 -0.02439914 0.00810323
+v -0.01743934 -0.02516218 0.00772419
+v -0.01728093 -0.02516218 0.00768886
+v -0.01127025 -0.02516216 0.00381975
+v -0.01127025 -0.01646209 -0.00499773
+v -0.01193984 -0.01646213 0.00493281
+v -0.01473242 -0.01646213 0.00463087
+v -0.01759131 -0.01646213 0.00426467
+v -0.02067863 -0.01646212 0.00381657
+v -0.02067863 -0.02516218 0.00813857
+v -0.02002008 -0.02516218 0.00812893
+v -0.01127025 -0.02516214 -0.00374018
+v -0.01611858 -0.02516212 -0.00698772
+v -0.01726343 -0.02516212 -0.00770083
+v -0.01737579 -0.02516212 -0.00772814
+v -0.01926852 -0.02516212 -0.00809754
+v -0.02067863 -0.02439738 -0.00811521
+v -0.02067863 -0.02372631 -0.00794657
+v -0.02067863 -0.02282105 -0.00761409
+v -0.01176853 -0.01646209 -0.00495597
+v -0.02067863 -0.01646210 -0.00378673
+v -0.02067863 -0.02516212 -0.00826939
+v -0.01720908 -0.01646209 -0.00430229
+v -0.01682870 -0.01646209 -0.00435529
+v -0.01564517 -0.01646209 -0.00451911
+v -0.01492584 -0.01646209 -0.00461708
+v -0.01473242 -0.01646209 -0.00463957
+v -0.01353231 -0.01646209 -0.00477609
+v -0.01193063 -0.01646209 -0.00493991
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 8
+f 1 8 23
+f 1 23 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 24
+f 3 24 22
+f 3 22 21
+f 3 21 20
+f 3 20 25
+f 3 25 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 25
+f 5 25 19
+f 5 19 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 7
+f 5 7 6
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 19 25 20
+f 22 24 26
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_22.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b6f6053254ed03b9157487023c3407d1c478ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_22.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02898655 0.02118059 -0.00485269
+v 0.02898481 0.02118059 -0.00483407
+v 0.02898481 0.02209433 -0.00477147
+v 0.02898481 0.03403719 -0.00373759
+v 0.03224470 0.03403721 -0.00751081
+v 0.03303286 0.03403721 -0.00788813
+v 0.03395791 0.03403721 -0.00815208
+v 0.03672781 0.03032308 -0.00832130
+v 0.03789088 0.02914377 -0.00844482
+v 0.03789088 0.02649190 -0.00802859
+v 0.03789088 0.02438248 -0.00765298
+v 0.03789088 0.02339322 -0.00737887
+v 0.03789088 0.02319814 -0.00723843
+v 0.03789088 0.02118059 -0.00457689
+v 0.02898481 0.02118055 0.00484599
+v 0.02898481 0.03403717 0.00376822
+v 0.03576789 0.03403721 -0.00859708
+v 0.03672781 0.03306557 -0.00863263
+v 0.03789088 0.03188752 -0.00864785
+v 0.03789088 0.02118055 0.00456850
+v 0.03789088 0.02150779 0.00543651
+v 0.03789088 0.02343344 0.00736542
+v 0.03789088 0.02483678 0.00770721
+v 0.03672781 0.03032302 0.00831805
+v 0.03395791 0.03403715 0.00814887
+v 0.03224383 0.03403715 0.00750252
+v 0.02898481 0.02209429 0.00477493
+v 0.03672781 0.03403721 -0.00863938
+v 0.03789088 0.03403721 -0.00861400
+v 0.03789088 0.02768877 0.00813361
+v 0.03789088 0.03032302 0.00846695
+v 0.03672781 0.03306551 0.00863109
+v 0.03672781 0.03403715 0.00863787
+v 0.03789088 0.03403715 0.00840775
+v 0.03789088 0.03306551 0.00860401
+v 0.03789088 0.03347329 0.00852280
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 20
+f 1 20 15
+f 1 15 2
+f 2 15 27
+f 2 27 16
+f 2 16 4
+f 2 4 3
+f 4 16 26
+f 4 26 25
+f 4 25 33
+f 4 33 34
+f 4 34 29
+f 4 29 28
+f 4 28 17
+f 4 17 7
+f 4 7 6
+f 4 6 5
+f 7 17 9
+f 7 9 8
+f 9 17 18
+f 9 18 19
+f 9 19 29
+f 9 29 34
+f 9 34 36
+f 9 36 35
+f 9 35 31
+f 9 31 30
+f 9 30 23
+f 9 23 22
+f 9 22 21
+f 9 21 20
+f 9 20 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 16 27 26
+f 17 28 18
+f 18 28 19
+f 19 28 29
+f 23 30 24
+f 24 31 32
+f 24 32 25
+f 24 30 31
+f 25 32 33
+f 31 35 32
+f 32 35 33
+f 33 35 36
+f 33 36 34
+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_23.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c5b8b666d6ef1883a4cb86bba59d08dc5b98b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_23.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03655816 -0.01646208 -0.00864244
+v 0.03401989 -0.01646208 -0.00830282
+v 0.03655816 -0.01631042 -0.00864920
+v 0.03655816 -0.01646214 0.00861234
+v 0.03655816 -0.01358493 -0.00844474
+v 0.03204095 -0.01646208 -0.00756613
+v 0.03401989 -0.01631042 -0.00828254
+v 0.03655816 -0.01370808 0.00842142
+v 0.03378877 -0.01646214 0.00809193
+v 0.03655816 -0.01083417 -0.00791080
+v 0.02836074 -0.00523485 -0.00456357
+v 0.02836074 -0.01646210 -0.00345688
+v 0.03655816 -0.01087709 0.00790777
+v 0.02836555 -0.00523489 0.00455889
+v 0.03336265 -0.01646214 0.00800575
+v 0.03655816 -0.00523486 -0.00398064
+v 0.02836074 -0.00523489 0.00416689
+v 0.02836074 -0.01646212 0.00339130
+v 0.03655816 -0.01084192 0.00789595
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+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_24.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f71b635925d660f8e03ed8ad64719d5c02c571
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_24.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.02465384 0.04388257 -0.00565160
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+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_25.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e949976501bf210ac17b0e73870edd712a08e116
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_25.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01161636 0.03128369 0.00622661
+v -0.01161636 0.03306674 0.00601749
+v -0.02465384 0.04388099 0.00535609
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+
diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_3.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8628ab8e0e02ae53ad4248c07994567b50c5bf04
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_3.obj
@@ -0,0 +1,1573 @@
+# https://github.com/mikedh/trimesh
+v 0.02898481 0.03403842 0.00376805
+v 0.02047254 0.02757605 0.00567842
+v 0.02318325 0.02483473 0.00557952
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_4.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae06a0849b03521c0218f0847cd3f01b9f73f46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_5.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4429e4b5535ea0c8551750fcc747da703b0fc2f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_6.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e49b7827d197790c0d38b6c7bff21f36034ef18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_7.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329f768bc93285c05ae3085c198bb92a318c2e49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_8.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1512141355c0c577033777b1cd805f8cdb6f10db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_9.obj b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eaf7eb55711fc5285dcfff769227be33ced361a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mjcf/mesh/magnifier_024_collision_9.obj
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