diff --git a/.gitattributes b/.gitattributes
index e59579040a962ff882683d58a622d4f8c75a3afb..f33338f7d0fcbff1b8cb853ffbe39cba0b3bb048 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/mesh/magnifier_019.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/magnifier_001.urdf b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/magnifier_001.urdf
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_collision.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac57943d665c609891ba16bbe867dc835463840
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c3c3e8344fd30af494611bf5a913f1f41fa875
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8532e4157ff95ef7e457f41c1ecaa3188a7483c6b36d7bb7cd57707cc465bf
+size 6743952
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ca02009029d84549aa58a3ae00846f78c9930a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_001_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 magnifier_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3c3c3e8344fd30af494611bf5a913f1f41fa875
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8532e4157ff95ef7e457f41c1ecaa3188a7483c6b36d7bb7cd57707cc465bf
+size 6743952
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/magnifier_001.xml b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/magnifier_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f873d3520bf4c9e28ff188c59de23d4acd362ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/magnifier_001.xml
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb7c2012e0235036aca751f780addbe346e3c7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001.obj
@@ -0,0 +1,105974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c261c5361fd7ab0dd044b1ebcad6bb84646ec59
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision.obj
@@ -0,0 +1,5003 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_0.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9ae21ae774e097eacc7a7db189d3607b31d98e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_1.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6e5f23121d8015519534aa502380cfe3aed1bd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_1.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_10.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0557715c87edaffb104c43907795cae01b2501e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_10.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_11.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25da5aaac173df3295e270e7f6bb5ba916eb9935
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_11.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_12.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdbda1ad9cf64cde4d294e2dd92929cf318df81
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_12.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_13.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dca1215a8adff8df13afaad1d9da7949e697351
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_14.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fefc221b3688ca396554ec0ac63e12fbb2018231
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_2.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e477b74025c5d16fb480f034b89a291d6be60ddd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_2.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_3.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d57a34c1f9f1f2f52cf066a5459e0412d0c9606
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_3.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_4.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aaf7dc82aca5a59c1856a7dbfd4c45bdd1ed3c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_5.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32333a54c129c6b54684c1da24548ea9128ac76c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_5.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.02643347 0.01648733 0.00052883
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+
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_6.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee5c1077d2367089f261c0e81f03e665d000690
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_6.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00001973 0.04544114 0.00065221
+v 0.00001973 0.04543852 0.00116408
+v 0.00001973 0.03980786 0.00065219
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+
diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_7.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea9f40c513c93dc20bf7e5ab373a46bc98dbeb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_8.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a52a78de760d0e0c7ca772fa5c13f76a83476aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_8.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_9.obj b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922dc19fcd4fa4d6327ed5328e8b4ee535803296
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mjcf/mesh/magnifier_001_collision_9.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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