diff --git a/.gitattributes b/.gitattributes
index 8b8ee72a983f56e08b10244a3ceb406a358c3faa..40b6a8f46054bba4100009f6bcc51df78546af79 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3464,3 +3464,5 @@ dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/mesh/stap
dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.urdf b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.mtl b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5096763b0d9081079f699d469065340e60f0f38
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+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.obj
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_collision.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd43ca4e4e7c7c5c61c0a80b72f22b988a7972f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6672f573324798f63fc74432a3a6df88d00c7a0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95fde5ed9abb1de34f0fd4ada77d0f700f8acd4b5719fe1bac23d8192741637
+size 7932122
diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fc1a19be80f67d80888aaf3d378c074689cc7d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6672f573324798f63fc74432a3a6df88d00c7a0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95fde5ed9abb1de34f0fd4ada77d0f700f8acd4b5719fe1bac23d8192741637
+size 7932122
diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/magnifier_030.xml b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/magnifier_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7916811521c3d668fc2ba67b426b0f29a7f0ed9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/magnifier_030.xml
@@ -0,0 +1,30 @@
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2be16d64fdd51ac9374f2a04bcf5922c6f7e61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030.obj
@@ -0,0 +1,107604 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc23e8492d0f2c8978660fa3b1075c8f79ed89
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision.obj
@@ -0,0 +1,4435 @@
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_0.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550b155df9c9995cde66321f2efd6b2d93849011
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_1.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e494e4f561592e3d5b4c4e2c2015583584fa0240
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_2.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562b777a399efd411c10ccbddd5853d777ee532e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_2.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_3.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe034e97765a188bcc4ac63fe67dd5af4ea3d30
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_3.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_4.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7227d9a6d192916b4d803ae48d0d22a55b805801
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_4.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_5.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50775bf5a06942537a5f5729f856caa29fee3a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_5.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_6.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683f39dcecfca6fe8f8472f90f14d5505ae8ba7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_6.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_7.obj b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc26d33a113c44ba7b3b85307a942034dfc7020a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mjcf/mesh/magnifier_030_collision_7.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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