diff --git a/.gitattributes b/.gitattributes
index 2783efbb0d16ef7dcbc39040d72d5c21abf62caf..1c758804c4d94a38a07fb36327150a61714c3050 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3458,3 +3458,5 @@ dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue
dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/magnifier_018.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ec3412f7079452428adb418435a76e11/mesh/magnifier_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/magnifier_009.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/magnifier_009.urdf b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/magnifier_009.urdf
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04904540af24a5ca496124e8c4f8553e21dd9804
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+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_collision.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942b4d2cc50f4d849086064fa14a6e024fe29cea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_collision.obj
@@ -0,0 +1,9057 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d4775f452b06fe85f912bd81d9119b9b3c13fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/magnifier_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5151e8fb0f226391d92621d9421b3b7b167b089df2b990ab0cc21e10e140849
+size 7383144
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material.mtl b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f92332f007c28eda1fe6c87d56d276ca221d15
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_009_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material_0.png b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d5151e8fb0f226391d92621d9421b3b7b167b089df2b990ab0cc21e10e140849
+size 7383144
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/magnifier_009.xml b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/magnifier_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..77aca015a3744af16ad50c01f1bed990e72cd8ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/magnifier_009.xml
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00534135d0e4a015e854e5641661836b97b02a96
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131d9ad7b02561ef6f8ca2eef4e3e412a1a96d82
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision.obj
@@ -0,0 +1,9057 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_0.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308b4bff054c41713411d65a851040f6a1a540b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_0.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_1.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591c6dfa934918a8cc6c5fd909fa33e5ac210898
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_1.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_10.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc87a05ae307d46e8d2cb2e527127321ec6d6f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_10.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_11.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e7b8a779ce12559e92072c10a74f089ff22893
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_11.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_12.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea999726f042d01905535aa5b23afc19e123743
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_13.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f864e988d159fd8ab7bf716f841566630251f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_13.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_14.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec9d9c7020fcf0ca7bcf602a28fbb62cd311cf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_14.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_15.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95945d1b74efe8a66d2c7e886f1fe914d914fc67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_16.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d15dd0b8e84abccf8470462990de0df346eddd61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_16.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_17.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbcb22716d214feaaa66be14e17ec161f31a0987
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_17.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_18.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29eb88ccb51686ce5c056f0c8b2f3e3d16835ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_19.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc00893299c8a4c1d0f683bd1ad15121b47c5cd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_19.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_2.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2073094f01e974c4ac0e67a556cba1cd2094f957
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_2.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_20.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c123da7b914b291c87c13e8cfdc76489d658092
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_20.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_21.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea742c1e9cf1185563bd9589ad37d034d12c41eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_21.obj
@@ -0,0 +1,325 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_22.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a724be7734aceb2385f1072dab8dfce5d631b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_22.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01753374 -0.03083181 0.00529268
+v -0.01753374 -0.03115479 0.00529047
+v -0.01344607 -0.01642026 0.00526080
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+
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_23.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6a8989dde9310ac1ee4ef7401851f7298a70c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00829456 -0.01551712 -0.00217480
+v 0.00829456 -0.01461700 -0.00217066
+v 0.01665989 -0.00672678 -0.00237426
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+v 0.00829456 -0.01281418 -0.00215253
+v 0.01665989 -0.01551712 -0.00191182
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+v 0.00829456 -0.00672678 -0.00202884
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+
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_24.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b6aa924906789f02faf9b3f9087002805b870e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_24.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.02615559 -0.02686569 -0.00265826
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+
diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_3.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6899107b596f1fc9a06dd72f61397846e8b337
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_3.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
+v -0.02221685 -0.00920752 0.00556428
+v -0.02221685 -0.00740477 0.00555044
+v -0.02398722 -0.00920752 0.00551584
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_4.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbe782950ec2fbbc83dc9784bd126f15a4d6912
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_5.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7583bb70d47b64d02b153f6925d2edff4d7c24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_6.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3923a977b65a35b956125d6383667e1e67d187f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_6.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_7.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2a3725007edf1e73d2075ae1f1aa9faa2445c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_7.obj
@@ -0,0 +1,568 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_8.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a354716d27f48499de9764ea124eca3c7e0288
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_9.obj b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a91ab47018dfe9a7f317c46f13eeefdadd62de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eedf8262fa9b5ae7ada951a147f315b0/mjcf/mesh/magnifier_009_collision_9.obj
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