diff --git a/.gitattributes b/.gitattributes
index 54de2ea312d777b2dba19ee44b77867b6dccf5c2..223147d780af7dd5a0a0cff3dc68793dbe596127 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3348,3 +3348,5 @@ dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/mesh/magn
dataset/desktop_supplies/office_tools/40ac412ec4e75445be5663116b39347a/40ac412ec4e75445be5663116b39347a.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/40ac412ec4e75445be5663116b39347a/mesh/glue_stick.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/40ac412ec4e75445be5663116b39347a/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.urdf b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2fdc720eb71807ea722d02e2738a71ee9b4b17a7
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.usd b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/magnifier_021.usd
new file mode 100644
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new file mode 100644
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new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021.mtl
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbcd04c4bb8456aa8b807ee85f7d90122cb0ed0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021.obj
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_collision.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de291b9e38d9f0fc6770865cb9391b14b595a92
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_collision.obj
@@ -0,0 +1,5197 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5869eceec481ae7d6f91e380baafcd3e5808bfbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/magnifier_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3776e87b71427e9c745cec2d784ab4ad48da6e0e8737d9c9c4c305b05b9783
+size 10168657
diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..648ba5cba8d2f98e8d54550e698f511e8a3e7e48
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mesh/material_0.png
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/magnifier_021.xml b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/magnifier_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8ca367b556685908e6114b6f7dc80c8467ff0a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/magnifier_021.xml
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f703f4cc326a850ecce9f935a2f4a4c9440c2a72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582e2fe19847ff41a7e9f97796cf016b99cc410a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision.obj
@@ -0,0 +1,5197 @@
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_0.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ecfa4f5933abccf0a3f09288571d434d337bc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_1.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccae4097cd704d4ba3e81d26dda779c4f3d801ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_10.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d5e62e23dd571bca15214ce3fd635ad1a1b69c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_2.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b8e1ab6a60743f77fec39336bad7509de00366
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_2.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_3.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5689d34605ffd127bf83a675d90a2772792dbe0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_4.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde6c2d993d5460b515200b9c7cac2653872ece9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_5.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d12a97eee7c0ba936c959e7f7482ddd5f708e548
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_5.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_6.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6becf800f1309cf272e84b8748f9f5ec7191eba8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_6.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_7.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04432c9e87153cb40ba29f9b4cb70a4c8e6fb7d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_7.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00305944 0.00400812 -0.00585346
+v 0.00670875 0.00400812 -0.00583693
+v 0.00136546 0.00400812 -0.00582866
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+
diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_8.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815cfe987ec57de66b34d72b1443e065fddf251a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_8.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00693928 0.00400685 -0.00584332
+v -0.00380381 0.00400685 -0.00583919
+v -0.00694772 0.00400685 -0.00571519
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+
diff --git a/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_9.obj b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cfef689f433c3e40cf2ba459c9d92d8f798dd6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e3149f73a1453bc8eb6fc7f9d72ce52/mjcf/mesh/magnifier_021_collision_9.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00549814 0.02820164 0.00724012
+v -0.00077836 0.02820164 0.00713159
+v -0.00077836 0.02759838 0.00739635
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