diff --git a/.gitattributes b/.gitattributes
index e8f9a5bf9804d012a53b7ee8d4c2a824a1d351b7..e545c89cda36a8a7f76bc28a9063c65b67023e0b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3349,3 +3349,5 @@ dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/stap
dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/mesh/scissors_027.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/46366ce196f553f7a8b89cf59e7d5144/scissors_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.urdf b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09dea0d7b673d066c6142da879a94c7d9c682be7
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.usd b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier_003.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..c456218199c7da553d3344db3755f8e847927668
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.mtl
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d23ea7f1a2f2eaaa210a5fe52d4c94bb980207d
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+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_collision.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a31e62a81d21b162b47f53a318c62545877d90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..edc0d3585fed484eebc9408ed97160f0ce2a16ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2340323058ecb17ec9315f0f0d155d3cec85583f0a33c671339dffcca64491e
+size 10968406
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material.mtl b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..65767fb3213b3cdaa4d26b70b810a7f4600801e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material_0.png b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..edc0d3585fed484eebc9408ed97160f0ce2a16ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2340323058ecb17ec9315f0f0d155d3cec85583f0a33c671339dffcca64491e
+size 10968406
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/magnifier_003.xml b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/magnifier_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..102f8a6128d78f6bdb087603b12df5c3645c8aea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/magnifier_003.xml
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ac7a69358c59586dafc9549c3922a1903d72ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003.obj
@@ -0,0 +1,111384 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99758f04b1a41b326320c0406a29bafb3e5a7149
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision.obj
@@ -0,0 +1,14700 @@
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_0.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9815ef54c1ce48131f4e0a4462ae0804a028ef14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_1.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e7ad713869fdbc64cd3e2847407c95a109bb4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_10.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a98c8637b78cd90559bc4df17e0d652e0dae7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_10.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_11.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8698a980d4fd872b4f75b413bb77adbf7416bb46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00627993 -0.03319455 -0.02289775
+v -0.00627993 -0.03319455 -0.02189775
+v -0.00627993 -0.01965026 -0.02289775
+v -0.00627993 -0.01965026 -0.02189775
+v 0.00739854 -0.03319455 -0.02289775
+v 0.00739854 -0.03319455 -0.02189775
+v 0.00739854 -0.01965026 -0.02289775
+v 0.00739854 -0.01965026 -0.02189775
+f 2 4 1
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_12.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539ebc470d9efb713a2f9d79847c90f0099fd9aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_12.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02030468 0.02968671 -0.02132344
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_13.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e80fba38ea6a65a99e633de5fb6811f6b2aa548
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_13.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.03390769 -0.05912297 -0.02243237
+v -0.02399459 -0.05912297 -0.02243237
+v -0.03390769 -0.05912297 -0.02180402
+v -0.03390769 -0.04400423 -0.02243231
+v -0.02231367 -0.05835926 -0.02243236
+v -0.02150114 -0.05912297 -0.02243083
+v -0.02615040 -0.05912297 -0.02146687
+v -0.02615040 -0.05823938 -0.02139159
+v -0.02798072 -0.05640263 -0.02139170
+v -0.02981225 -0.05456589 -0.02139806
+v -0.03164378 -0.05272766 -0.02142108
+v -0.03347531 -0.04905565 -0.02138190
+v -0.03390769 -0.04905565 -0.02142118
+v -0.03390769 -0.04721890 -0.02156933
+v -0.03347531 -0.04721890 -0.02161252
+v -0.02252378 -0.05912297 -0.02194479
+v -0.02431887 -0.05912297 -0.02151191
+v -0.02431887 -0.05823938 -0.02161091
+f 1 2 6
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+f 1 3 13
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+f 1 14 4
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+f 1 5 2
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+f 9 12 10
+f 10 12 11
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+f 12 14 13
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+f 12 18 15
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_14.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6bdb1b880596b5017c0f0c5e764ffd7beffdde
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01414387 0.03542197 -0.01672641
+v 0.02332531 0.03541448 -0.01672641
+v 0.01597518 0.03503208 -0.01856279
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_15.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30271535b907db375ef949f8d9f910ca1f098c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_15.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00022822 0.02272268 -0.01488228
+v 0.01414368 0.02265629 -0.01457599
+v 0.01596653 0.02265629 -0.01464133
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_16.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5181baedc00dbf7a4fdbd1a29c22a7c3a7a0630
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_17.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758df01e2b25e64703cc3e4b2e27104bfe4b9ebf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_17.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_18.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c0aea93039dfb7897bc64b6f6e4b1956dc43bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_18.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_19.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba907383240389bd1c3472df279b6b612de915c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_19.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_2.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d356a6ae4f258c0484adc6cbd01455d57620c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_2.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_20.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c377d7564b1ef280f11940a1b55c91615b1c95f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v 0.00681646 -0.06534542 -0.02243400
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_21.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbf00a038f0ad66aa6564329cdb38badcf217b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_22.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff2e9b79a3235b7fc8dbe5cd10e0b0f45ae2550
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_23.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c50e82c4be71b6ea2f41ce5f6520132f128f1ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_23.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.03347509 0.03541961 -0.01672641
+v -0.03530626 0.03541836 -0.01672641
+v -0.03347509 0.03530765 -0.01488927
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_24.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de1c977fdc306ebeb7dd24fa693f9e745ce2096
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_24.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03931786 0.03344505 -0.00322261
+v -0.03931786 0.03385304 -0.00570442
+v -0.04080271 0.03376147 -0.00570442
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_25.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dddf4f0e7314a375cf869fdbc7509f06591fc9bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_25.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04046899 0.03342457 -0.00322261
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_26.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded4d284f9bcdb47a313f49b10810f1dc1f0fc81
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00035744 0.02347556 0.06393114
+v 0.00035744 0.02214730 0.06777374
+v 0.00035744 0.01198535 0.06393109
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_27.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0fc8fedb79143dd68b50bb155c7c95e91c780e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_27.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00755982 -0.06502270 -0.02243239
+v -0.00755982 -0.06966960 -0.02243241
+v -0.00755982 -0.06556369 -0.02198135
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_28.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8edd8e033afb8dc9e9bf7d5f2637ee231543bbeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_28.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_29.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aac4c8eeac6cf8f4af9ea77f9c30f3597f89eb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_29.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_3.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ca660e26b6838213a7f3b484404c1b5576216f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_3.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_30.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b7586211ef3abf3bbc587e670845059455a1119
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_30.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_31.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44eb2b57f5a6a20e521ed6c7ac56e8d937d5ac1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_31.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_32.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568b65b6ec850e900e120bb874bcbb75baef5fdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_32.obj
@@ -0,0 +1,229 @@
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+v 0.04831863 0.00863009 0.06042521
+v 0.04841621 0.00882792 0.06001235
+v 0.04162030 0.00785046 0.06777230
+v 0.03978884 0.00754681 0.06777230
+v 0.04718957 0.00836631 0.06408306
+v 0.04538648 0.00816263 0.06604536
+v 0.04484634 0.00843915 0.06719175
+v 0.04711468 0.00826102 0.06226296
+v 0.03795738 0.00818230 0.06904813
+v 0.03978884 0.00829025 0.06897851
+v 0.04162030 0.00858380 0.06881082
+v 0.04254511 0.00879811 0.06869412
+v 0.04271191 0.00972342 0.06876571
+v 0.04301829 0.01155970 0.06890105
+v 0.04321687 0.01286258 0.06899324
+v 0.04715212 0.01286259 0.06598262
+v 0.04792714 0.01155971 0.06484406
+v 0.04782389 0.00972343 0.06465185
+v 0.04662787 0.00847107 0.06550698
+v 0.04327361 0.00829025 0.06779191
+v 0.04608661 0.00972342 0.06675046
+v 0.04517088 0.00972342 0.06743006
+v 0.04362764 0.00972342 0.06834795
+v 0.04393289 0.01155970 0.06848230
+v 0.04413146 0.01286258 0.06857744
+v 0.04386480 0.01286258 0.06869904
+v 0.04633058 0.01286258 0.06698289
+v 0.04689340 0.01143580 0.06611009
+v 0.04690815 0.00972343 0.06583257
+v 0.04618079 0.01074127 0.06683872
+v 0.04545570 0.01143579 0.06746536
+v 0.04532974 0.01286258 0.06775368
+v 0.04627270 0.01196545 0.06692502
+f 1 2 7
+f 1 7 14
+f 1 14 27
+f 1 27 46
+f 1 46 33
+f 1 33 18
+f 1 18 17
+f 1 17 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 39
+f 1 39 59
+f 1 59 70
+f 1 70 69
+f 1 69 76
+f 1 76 71
+f 1 71 60
+f 1 60 40
+f 1 40 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
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+f 4 32 34
+f 4 34 19
+f 4 19 11
+f 4 11 5
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+f 6 12 13
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+f 9 15 16
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+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 15 28 16
+f 15 18 29
+f 15 29 30
+f 15 30 28
+f 16 31 53
+f 16 53 32
+f 16 28 31
+f 18 33 29
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 21
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+f 21 37 38
+f 21 38 22
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+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
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+f 26 45 27
+f 27 45 46
+f 28 47 48
+f 28 48 31
+f 28 30 49
+f 28 49 50
+f 28 50 51
+f 28 51 47
+f 29 33 52
+f 29 52 30
+f 30 52 49
+f 31 48 53
+f 32 53 35
+f 32 35 34
+f 33 46 45
+f 33 45 52
+f 35 53 54
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 56 39
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 40 60 61
+f 40 61 41
+f 41 61 42
+f 42 61 62
+f 42 62 43
+f 43 62 63
+f 43 63 49
+f 43 49 44
+f 44 49 52
+f 44 52 45
+f 47 54 48
+f 47 51 64
+f 47 64 55
+f 47 55 54
+f 48 54 53
+f 49 63 50
+f 50 63 51
+f 51 63 65
+f 51 65 66
+f 51 66 56
+f 51 56 64
+f 55 64 56
+f 56 66 67
+f 56 67 57
+f 57 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 60 71 72
+f 60 72 61
+f 61 72 73
+f 61 73 62
+f 62 73 63
+f 63 73 65
+f 65 73 74
+f 65 74 66
+f 66 74 75
+f 66 75 76
+f 66 76 69
+f 66 69 68
+f 66 68 67
+f 71 76 77
+f 71 77 72
+f 72 77 73
+f 73 77 74
+f 74 77 76
+f 74 76 75
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_33.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44296b0cc9a87565c27ed6bf4d8f933801f72842
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.04286365 0.01497508 0.05501381
+v -0.03714296 0.01512590 0.05500811
+v -0.03714296 0.01514407 0.05501381
+v -0.04286365 0.02428826 0.05501384
+v -0.04286365 0.01500052 0.05457487
+v -0.03714296 0.01592735 0.03837400
+v -0.03714296 0.02467351 0.05501384
+v -0.04286365 0.02524050 0.04885728
+v -0.04273317 0.02430280 0.05501384
+v -0.03714296 0.02784643 0.03654417
+v -0.04286365 0.01515317 0.05273360
+v -0.03813131 0.01611089 0.03717119
+v -0.03714296 0.01608363 0.03701158
+v -0.03723871 0.02466988 0.05501384
+v -0.04286365 0.02531682 0.04836133
+v -0.03897127 0.02847156 0.03103178
+v -0.04263406 0.02431370 0.05501384
+v -0.04263406 0.02433006 0.05491123
+v -0.03714296 0.03087578 0.01561759
+v -0.03808091 0.03085216 0.01547508
+v -0.04263406 0.03318915 -0.00322261
+v -0.03897127 0.02895132 0.02787940
+v -0.03897127 0.02875323 0.02919622
+v -0.04080239 0.02446998 0.05501384
+v -0.03907039 0.02458265 0.05501384
+v -0.03897127 0.02458810 0.05501384
+v -0.04286365 0.01532762 0.05089803
+v -0.04001674 0.01792087 0.02600389
+v -0.03897127 0.01735026 0.02919617
+v -0.04286365 0.01552207 0.04937029
+v -0.03897127 0.01763375 0.02735490
+v -0.03714296 0.01622720 0.03609380
+v -0.03996131 0.02902946 0.02656828
+v -0.04286365 0.03316189 -0.00322261
+v -0.03714296 0.03353987 -0.00321690
+v -0.03897127 0.03346719 -0.00322261
+v -0.04080239 0.03335089 -0.00322261
+v -0.03897127 0.01788453 0.02579297
+v -0.04286365 0.01893487 0.02735491
+v -0.04286365 0.02287829 0.00530533
+v -0.04286365 0.02449382 -0.00322264
+v -0.04004250 0.01969814 0.01676335
+v -0.03897127 0.01919476 0.01817708
+v -0.03897127 0.01885313 0.02001265
+v -0.03897127 0.01853329 0.02185392
+v -0.03897127 0.01822799 0.02368948
+v -0.03714296 0.01645254 0.03470287
+v -0.03714296 0.03304014 -0.00322261
+v -0.03778245 0.03351443 -0.00322261
+v -0.03714296 0.02504988 -0.00322264
+v -0.03714296 0.02153173 0.00752283
+v -0.03714296 0.02122644 0.00852042
+v -0.03714296 0.02060313 0.01077212
+v -0.03714296 0.02058859 0.01082913
+v -0.03848353 0.01976174 0.01505320
+v -0.03970428 0.01986895 0.01553774
+v -0.03904463 0.01960546 0.01622751
+v -0.03714296 0.01989622 0.01397010
+v -0.03714296 0.01973267 0.01488788
+v -0.03714296 0.02017971 0.01266468
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 26
+f 1 26 25
+f 1 25 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 15
+f 1 15 34
+f 1 34 41
+f 1 41 40
+f 1 40 39
+f 1 39 30
+f 1 30 27
+f 1 27 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 32
+f 2 32 47
+f 2 47 59
+f 2 59 58
+f 2 58 60
+f 2 60 54
+f 2 54 53
+f 2 53 52
+f 2 52 51
+f 2 51 50
+f 2 50 48
+f 2 48 35
+f 2 35 19
+f 2 19 10
+f 2 10 7
+f 2 7 3
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 12 13
+f 6 11 12
+f 7 10 14
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+f 8 16 15
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+f 10 18 17
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+f 10 24 25
+f 10 25 26
+f 10 26 14
+f 11 27 12
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+f 12 29 13
+f 12 27 30
+f 12 30 28
+f 13 29 31
+f 13 31 32
+f 15 16 23
+f 15 23 33
+f 15 33 34
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 20 37 21
+f 21 37 36
+f 21 36 49
+f 21 49 48
+f 21 48 50
+f 21 50 41
+f 21 41 34
+f 21 34 22
+f 22 34 23
+f 23 34 33
+f 28 38 31
+f 28 31 29
+f 28 30 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 38
+f 31 38 32
+f 32 38 47
+f 35 48 49
+f 35 49 36
+f 38 46 47
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 56 43
+f 43 56 57
+f 43 57 55
+f 43 55 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 46 59 47
+f 54 60 55
+f 55 60 58
+f 55 57 56
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_34.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43d2b757f0999cc0ef66eb5552e0fc5d3420f0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_34.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01401196 0.02638684 -0.02243205
+v 0.01414570 0.02638501 -0.02243205
+v 0.01414570 0.02343369 -0.02494685
+v -0.00202432 0.02635201 -0.02243205
+v 0.01587687 0.02635385 -0.02243205
+v 0.01597594 0.02635201 -0.02243205
+v 0.01597594 0.02339886 -0.02492460
+v 0.02327709 0.02135860 -0.02627931
+v 0.01749660 0.02152908 -0.02628459
+v -0.00202432 0.02143192 -0.02628459
+v -0.00202432 0.02333837 -0.02488236
+v -0.00202432 0.01164118 -0.02243211
+v 0.01780866 0.02622186 -0.02243205
+v 0.02327709 0.02133110 -0.02588369
+v 0.02327709 0.02068401 -0.02628459
+v 0.02184311 0.02136227 -0.02628459
+v 0.02002030 0.02144292 -0.02628459
+v 0.01963147 0.02548861 -0.02243206
+v 0.02052059 0.02445839 -0.02243206
+v -0.00202432 0.00765965 -0.02628464
+v -0.00202432 0.00765964 -0.02418734
+v 0.01770464 0.00765963 -0.02243212
+v 0.02327709 0.02118444 -0.02407377
+v 0.02327709 0.00765965 -0.02628464
+v 0.02327709 0.02053001 -0.02243207
+v 0.02327709 0.02117894 -0.02404549
+v 0.02327709 0.00765963 -0.02243212
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 27
+f 1 27 25
+f 1 25 19
+f 1 19 18
+f 1 18 13
+f 1 13 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 20
+f 4 20 21
+f 4 21 12
+f 6 13 8
+f 6 8 7
+f 8 14 23
+f 8 23 26
+f 8 26 25
+f 8 25 27
+f 8 27 24
+f 8 24 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 13 18
+f 8 18 19
+f 8 19 14
+f 9 17 16
+f 9 16 15
+f 9 15 24
+f 9 24 20
+f 9 20 10
+f 12 21 22
+f 14 19 23
+f 19 25 26
+f 19 26 23
+f 20 24 27
+f 20 27 22
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_35.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2da1d70218903cf7ec9f438a643e6b4756ec67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_35.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01774554 -0.07543976 -0.02243233
+v 0.03429322 -0.07552121 -0.02243233
+v 0.01774554 -0.07480851 -0.02192591
+v 0.01774554 -0.06184430 -0.02243228
+v 0.03606094 -0.07551781 -0.02243233
+v 0.03606094 -0.07479494 -0.02187206
+v 0.03429322 -0.07476779 -0.02184884
+v 0.01774554 -0.07476779 -0.02189529
+v 0.01774554 -0.06190539 -0.02235675
+v 0.03606094 -0.04085041 -0.02243220
+v 0.03606094 -0.07476779 -0.02185161
+v 0.03606094 -0.07299624 -0.02140881
+v 0.02330506 -0.07293176 -0.02139515
+v 0.02147280 -0.07293176 -0.02139566
+v 0.01774554 -0.07293176 -0.02139895
+v 0.01774554 -0.07299624 -0.02141611
+v 0.01774554 -0.06199702 -0.02229437
+v 0.01774554 -0.06374821 -0.02141443
+v 0.03606094 -0.04136627 -0.02227508
+v 0.03606094 -0.07293176 -0.02139299
+v 0.02696599 -0.05823672 -0.02138255
+v 0.02147280 -0.06191218 -0.02139387
+v 0.01781008 -0.06374821 -0.02140590
+v 0.01774554 -0.06381269 -0.02140713
+v 0.03606094 -0.04360955 -0.02164279
+v 0.03606094 -0.04544898 -0.02140193
+v 0.03429322 -0.04905656 -0.02138755
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 24
+f 1 24 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 10 19
+f 5 19 25
+f 5 25 26
+f 5 26 20
+f 5 20 12
+f 5 12 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 18 24 23
+f 18 23 25
+f 18 25 19
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 22 27 23
+f 23 27 26
+f 23 26 25
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_36.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2155532b7bd07c89e4d32d65cdbf5cf367d0cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_36.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02416054 0.02315067 -0.02132346
+v -0.02416054 0.02276059 -0.02039922
+v -0.02416054 0.02537405 -0.02132346
+v -0.02153928 0.02272297 -0.02132347
+v -0.02416054 0.02299313 -0.01871360
+v -0.02244168 0.02272296 -0.02039922
+v -0.02147960 0.02272296 -0.01854163
+v -0.01824719 0.02272295 -0.01538402
+v -0.02416054 0.02537403 -0.01729009
+v 0.00022814 0.02537405 -0.02132346
+v 0.00022814 0.02272297 -0.02132347
+v -0.02416054 0.02307540 -0.01863481
+v -0.01699147 0.02272294 -0.01481584
+v -0.01609385 0.02537402 -0.01358399
+v -0.02416054 0.02395987 -0.01779540
+v 0.00022814 0.02537402 -0.01395900
+v 0.00022814 0.02272294 -0.01488174
+v -0.01684346 0.02272294 -0.01475220
+v -0.01522248 0.02493645 -0.01358399
+v 0.00022098 0.02537402 -0.01358399
+v 0.00022814 0.02513188 -0.01358399
+v -0.00595020 0.02478074 -0.01358399
+v -0.01149829 0.02272294 -0.01459008
+v -0.01499330 0.02272294 -0.01457795
+v -0.01332696 0.02458791 -0.01358399
+v -0.01035000 0.02459102 -0.01358399
+v -0.01149829 0.02455858 -0.01358399
+v -0.01315985 0.02272294 -0.01457947
+v -0.01218106 0.02456663 -0.01358399
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 14
+f 3 14 20
+f 3 20 16
+f 3 16 10
+f 4 11 17
+f 4 17 23
+f 4 23 28
+f 4 28 24
+f 4 24 18
+f 4 18 13
+f 4 13 8
+f 4 8 7
+f 4 7 6
+f 5 8 12
+f 8 13 14
+f 8 14 9
+f 8 9 15
+f 8 15 12
+f 10 16 21
+f 10 21 17
+f 10 17 11
+f 13 18 14
+f 14 18 19
+f 14 19 25
+f 14 25 29
+f 14 29 27
+f 14 27 26
+f 14 26 22
+f 14 22 21
+f 14 21 20
+f 16 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 27 28
+f 23 26 27
+f 24 28 27
+f 24 27 29
+f 24 29 25
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_37.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8cc904dcb4c217a885e4cb0df7bf83734e3053
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_37.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02778696 0.02565042 0.05225284
+v 0.02513486 0.02537688 0.05423353
+v 0.02696668 0.02553680 0.05307851
+v 0.02696668 0.02537969 0.05416949
+v 0.02872861 0.02562516 0.05225284
+v 0.00036111 0.02493646 0.05225284
+v 0.00036111 0.02393491 0.06226153
+v 0.02513486 0.02521417 0.05515298
+v 0.00682031 0.02399663 0.06226153
+v 0.01414760 0.02432767 0.06042492
+v 0.02798191 0.02536005 0.05405856
+v 0.03793923 0.02310874 0.06393573
+v 0.03793923 0.02337946 0.06252798
+v 0.02867344 0.02549191 0.05307050
+v 0.03793923 0.02438238 0.05676887
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_38.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96bb3a40a19d55cdec255848e14b3d904613967d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_38.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_39.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e13c6e4088f57db874c79c47ac120b874b38f753
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_39.obj
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_4.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d480e3d4ebbb1dba3554902c92382a7ebe3333
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_40.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed87def331ec3ab4c644b0029810b23dbdfe97c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_41.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb878fe914e82db337db5c42f995ae2746b67d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_42.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084f7243ca658f5fb283c40b3e0cda294b5ff83d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_42.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_43.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8261317558e600b1b64514b3419a2293431f06db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01962690 0.02494572 0.05225284
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_44.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78de9b5db9e1a40cfe7648d751092af367cc167c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_44.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01130875 0.00987401 -0.02243211
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+v -0.01130875 0.00996939 -0.02231904
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_45.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8baa63f4bbc127965e9d2a4c6606c9c8c4c4fb5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00692654 -0.06932529 -0.02243240
+v 0.00928181 -0.07454372 -0.02243242
+v 0.00692654 -0.06931464 -0.02241550
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_46.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4967225216bb53977eafa5941ab1a54e1a15b7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_46.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.03347802 0.02139448 -0.02628459
+v -0.03493501 0.02139252 -0.02628459
+v -0.03530914 0.02136512 -0.02591046
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_47.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151ae8ce50800f2263c5e37b436c0b9569c5e576
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_47.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.04988108 0.00765904 -0.02628464
+v 0.04984043 0.00765903 -0.02543116
+v 0.04988616 0.00604938 -0.02628465
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_48.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c6ca26826b46cd566be89f9bef96d66a3b23d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02214350 0.00139516 -0.02628466
+v -0.00202433 0.00139516 -0.02628466
+v -0.02214350 0.00139515 -0.02405951
+v -0.02214350 0.02136132 -0.02628459
+v -0.00202433 0.00139515 -0.02349870
+v -0.00202433 0.02142989 -0.02628459
+v -0.00966551 0.00139515 -0.02365408
+v -0.02214350 0.00416244 -0.02243213
+v -0.02214350 0.02121682 -0.02404662
+v -0.01962663 0.02528204 -0.02243206
+v -0.01838199 0.02600203 -0.02243205
+v -0.01701721 0.02627876 -0.02243205
+v -0.01699160 0.02628121 -0.02243205
+v -0.01530975 0.02640610 -0.02243205
+v -0.01515811 0.02339148 -0.02492120
+v -0.01699160 0.02152050 -0.02628459
+v -0.00233943 0.00139515 -0.02350059
+v -0.00202433 0.01164148 -0.02243211
+v -0.01149704 0.02340127 -0.02492649
+v -0.00202433 0.02333760 -0.02488236
+v -0.00881277 0.00139515 -0.02362693
+v -0.00783399 0.00139515 -0.02359751
+v -0.00698125 0.00139515 -0.02357602
+v -0.00600247 0.00139515 -0.02355263
+v -0.00417095 0.00139515 -0.02352171
+v -0.02214350 0.02058744 -0.02243207
+v -0.01348414 0.02641100 -0.02243205
+v -0.01332659 0.02339637 -0.02492460
+v -0.00202433 0.02635223 -0.02243205
+v -0.01149704 0.02641345 -0.02243205
+f 1 2 5
+f 1 5 17
+f 1 17 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 7
+f 1 7 3
+f 1 3 8
+f 1 8 26
+f 1 26 9
+f 1 9 4
+f 1 4 16
+f 1 16 6
+f 1 6 2
+f 2 6 20
+f 2 20 29
+f 2 29 18
+f 2 18 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 8 17
+f 5 18 8
+f 6 16 19
+f 6 19 20
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 17
+f 8 18 29
+f 8 29 30
+f 8 30 27
+f 8 27 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 26
+f 9 26 10
+f 14 27 19
+f 14 19 28
+f 14 28 15
+f 15 28 16
+f 16 28 19
+f 19 27 30
+f 19 30 29
+f 19 29 20
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_49.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f56a079359f9fd3a78b433c81b80e5efd17176d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_49.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03503750 -0.01143018 -0.02243219
+v 0.03828726 -0.02612753 -0.02243225
+v 0.03503750 -0.01068398 -0.02217502
+v 0.03503750 0.00319254 -0.02243214
+v 0.04893919 -0.02612753 -0.02243225
+v 0.03835397 -0.02612753 -0.02233770
+v 0.03503750 -0.01048308 -0.02210602
+v 0.03503750 0.00319254 -0.02180650
+v 0.04894600 0.00319254 -0.02243214
+v 0.04886158 -0.02333787 -0.02227386
+v 0.04890515 -0.02612753 -0.02236377
+v 0.03978893 -0.02612753 -0.02144506
+v 0.03503750 -0.00680946 -0.02147944
+v 0.04711349 0.00319254 -0.02137534
+v 0.03503750 -0.00497265 -0.02148533
+v 0.04891468 0.00319254 -0.02236976
+v 0.04795623 -0.02612753 -0.02180930
+v 0.04886022 -0.02612753 -0.02227377
+v 0.04886567 0.00237458 -0.02227283
+v 0.04886567 0.00319254 -0.02227273
+v 0.04711349 -0.02612753 -0.02137658
+v 0.03978893 -0.02333787 -0.02140306
+v 0.03612529 -0.00864627 -0.02138241
+v 0.04789360 0.00319254 -0.02177433
+v 0.03978893 -0.01966425 -0.02137686
+v 0.04711349 -0.02333787 -0.02137637
+v 0.03978893 -0.02150106 -0.02138122
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 17
+f 2 17 21
+f 2 21 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 4 8 14
+f 4 14 24
+f 4 24 20
+f 4 20 16
+f 4 16 9
+f 5 10 11
+f 5 9 10
+f 6 12 13
+f 6 13 7
+f 8 15 14
+f 9 16 10
+f 10 17 18
+f 10 18 11
+f 10 16 19
+f 10 19 20
+f 10 20 17
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 15
+f 14 15 23
+f 14 23 25
+f 14 25 26
+f 14 26 24
+f 16 20 19
+f 17 20 21
+f 20 24 26
+f 20 26 21
+f 21 26 25
+f 21 25 27
+f 21 27 22
+f 22 27 23
+f 23 27 25
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_5.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da32ef526e88bd7a0c8004b757d98a1afea4095
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00498982 0.03532937 -0.01305148
+v 0.00498982 0.03528292 -0.01121472
+v 0.00681999 0.03527935 -0.01121472
+v 0.00681999 0.03531866 -0.01305148
+v 0.03612186 0.03514957 -0.01358395
+v 0.00735330 0.03531746 -0.01358395
+v 0.00551930 0.03532580 -0.01358395
+v 0.00315965 0.03532698 -0.01358395
+v 0.00315965 0.03532937 -0.01305148
+v 0.00127577 0.03532818 -0.01305148
+v 0.00127577 0.03532580 -0.01299874
+v 0.00127577 0.03524482 -0.01121472
+v 0.01781250 0.03453038 -0.00659186
+v 0.01964267 0.03453872 -0.00653912
+v 0.02072849 0.03453396 -0.00654622
+v 0.01414833 0.03496738 -0.00937795
+v 0.03795586 0.03513052 -0.01358395
+v 0.03665518 0.03514600 -0.01358395
+v 0.00127577 0.03532580 -0.01358395
+v 0.00127577 0.03312298 -0.00322261
+v 0.02330301 0.03402433 -0.00386765
+v 0.01686481 0.03452443 -0.00661519
+v 0.03795586 0.03354091 -0.00322261
+v 0.03795586 0.03364569 -0.00386765
+v 0.03795586 0.03393981 -0.00570442
+v 0.03795586 0.03444943 -0.00891242
+v 0.03795586 0.03459351 -0.00983029
+v 0.03795586 0.03480546 -0.01121472
+v 0.03795586 0.03506623 -0.01305148
+v 0.03848534 0.03511861 -0.01358395
+v 0.00127577 0.02513468 -0.01358399
+v 0.00127577 0.02534063 -0.00322264
+v 0.02330301 0.03381834 -0.00322261
+v 0.02513318 0.03386359 -0.00322261
+v 0.03914144 0.03349209 -0.00322261
+v 0.03978603 0.03357068 -0.00386765
+v 0.03978603 0.03386836 -0.00570442
+v 0.03978603 0.03456136 -0.01003720
+v 0.03978603 0.03474711 -0.01121472
+v 0.03978603 0.03501503 -0.01305148
+v 0.03978603 0.03508171 -0.01358395
+v 0.00606797 0.02477509 -0.01358399
+v 0.02760793 0.02316643 -0.00322264
+v 0.03978603 0.03346471 -0.00322261
+v 0.04046899 0.03342542 -0.00322261
+v 0.04046899 0.03346471 -0.00346298
+v 0.04046899 0.03382907 -0.00570442
+v 0.04046899 0.03454589 -0.01014065
+v 0.04046899 0.03470544 -0.01118125
+v 0.04046899 0.03481379 -0.01189729
+v 0.04046899 0.03498169 -0.01305148
+v 0.04031551 0.03505670 -0.01358395
+v 0.01231433 0.02456315 -0.01358399
+v 0.02870910 0.02318429 -0.00322264
+v 0.01414833 0.02456434 -0.01358399
+v 0.04046899 0.02501557 -0.00322264
+v 0.04046899 0.03500669 -0.01324926
+v 0.04046899 0.03504836 -0.01358395
+v 0.02939206 0.02321406 -0.00322264
+v 0.04046899 0.02686952 -0.01358398
+v 0.02795708 0.02349150 -0.00481700
+v 0.03062752 0.02337480 -0.00322264
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
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+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 5
+f 3 5 4
+f 5 18 17
+f 5 17 30
+f 5 30 41
+f 5 41 52
+f 5 52 58
+f 5 58 60
+f 5 60 55
+f 5 55 53
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+f 5 31 19
+f 5 19 8
+f 5 8 7
+f 5 7 6
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+f 8 10 9
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+f 10 20 12
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+f 12 22 13
+f 13 22 21
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+f 15 27 28
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+f 15 17 16
+f 17 29 30
+f 20 32 43
+f 20 43 54
+f 20 54 59
+f 20 59 62
+f 20 62 56
+f 20 56 45
+f 20 45 44
+f 20 44 35
+f 20 35 23
+f 20 23 34
+f 20 34 33
+f 20 33 21
+f 21 33 34
+f 21 34 23
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 39
+f 26 39 27
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 40 30
+f 30 40 41
+f 31 42 43
+f 31 43 32
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 42 53 43
+f 43 53 55
+f 43 55 54
+f 45 56 60
+f 45 60 58
+f 45 58 57
+f 45 57 51
+f 45 51 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 51 57 52
+f 52 57 58
+f 54 55 59
+f 55 60 61
+f 55 61 59
+f 56 62 60
+f 59 61 60
+f 59 60 62
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_50.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161331903817f6524bada6fc99f41397ecb4268e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_50.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02423443 0.00319254 -0.02243204
+v 0.02490704 0.00319254 -0.02207043
+v 0.03503750 0.00319254 -0.02243204
+v 0.03503750 -0.01142773 -0.02243209
+v 0.02514817 0.00319254 -0.02194093
+v 0.03503750 0.00319254 -0.02180646
+v 0.03503750 -0.01068204 -0.02217500
+v 0.02696719 0.00237529 -0.02152691
+v 0.02696719 0.00319254 -0.02147612
+v 0.03503750 -0.01048167 -0.02210600
+v 0.02879890 0.00319254 -0.02148846
+v 0.02879890 0.00237529 -0.02141724
+v 0.03062955 0.00053899 -0.02143455
+v 0.03429297 -0.00496991 -0.02139855
+v 0.03503750 -0.00496991 -0.02148536
+v 0.03429297 -0.00680764 -0.02147677
+v 0.03246126 -0.00313504 -0.02140511
+v 0.03503750 -0.00680764 -0.02147950
+f 1 2 5
+f 1 5 9
+f 1 9 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 15
+f 3 15 18
+f 3 18 10
+f 3 10 7
+f 3 7 4
+f 4 7 5
+f 5 8 9
+f 5 7 10
+f 5 10 8
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 8 10 16
+f 8 16 9
+f 9 12 11
+f 9 16 17
+f 9 17 12
+f 10 18 16
+f 12 17 14
+f 12 14 13
+f 14 17 16
+f 14 16 18
+f 14 18 15
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_51.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488cb6166f721dc34dbcdee3a8551599b8a3396a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_51.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00022814 0.03542257 -0.01672641
+v 0.00022814 0.03532518 -0.01358395
+v 0.00022814 0.03503504 -0.01856279
+v -0.00417166 0.03542158 -0.01672641
+v 0.00022814 0.03288682 -0.01358396
+v -0.01149829 0.03541962 -0.01672641
+v -0.02416054 0.03541568 -0.01672641
+v -0.00234060 0.03532321 -0.01358395
+v 0.00022814 0.03457569 -0.01953704
+v -0.02416054 0.03457176 -0.01953250
+v -0.02416054 0.03502815 -0.01856279
+v 0.00022098 0.02537402 -0.01358399
+v 0.00022814 0.02537402 -0.01395900
+v -0.02416054 0.03531142 -0.01504761
+v -0.00417166 0.03532026 -0.01358395
+v -0.00364168 0.03532124 -0.01358395
+v 0.00022814 0.03360192 -0.02008933
+v -0.00234060 0.03360192 -0.02008933
+v -0.02248466 0.03457176 -0.01953325
+v -0.02416054 0.03448815 -0.01958022
+v -0.01609385 0.02537402 -0.01358399
+v 0.00022814 0.02537405 -0.02132346
+v -0.02416054 0.03530158 -0.01488927
+v -0.00600272 0.03530945 -0.01358395
+v 0.00022814 0.03286422 -0.02038706
+v -0.00050715 0.03176553 -0.02083100
+v -0.00234060 0.03176553 -0.02083176
+v -0.00966723 0.03176553 -0.02082873
+v -0.00417166 0.03360192 -0.02008857
+v -0.02416054 0.03360192 -0.02007948
+v -0.02416054 0.02713271 -0.01358398
+v -0.02416054 0.02537403 -0.01729009
+v 0.00022814 0.02974815 -0.02132344
+v -0.02416054 0.02537405 -0.02132346
+v -0.02416054 0.03515206 -0.01358395
+v 0.00022814 0.03176553 -0.02083025
+v 0.00022814 0.03030979 -0.02119693
+v -0.00050715 0.03031078 -0.02119693
+v -0.00417166 0.03031471 -0.02119693
+v -0.00600272 0.03031570 -0.02119693
+v -0.00966723 0.03031176 -0.02119617
+v -0.02416054 0.03163766 -0.02084994
+v -0.02248466 0.03176553 -0.02081888
+v -0.02416054 0.03176553 -0.02081737
+v -0.00050715 0.02975012 -0.02132344
+v -0.02416054 0.02967635 -0.02132344
+v -0.00417166 0.02975799 -0.02132344
+v -0.00600272 0.02975996 -0.02132344
+v -0.00783378 0.02975799 -0.02132344
+v -0.00855475 0.02975602 -0.02132344
+v -0.00966723 0.02975209 -0.02132344
+v -0.02416054 0.03027340 -0.02119011
+v -0.02416054 0.03022324 -0.02120147
+v -0.02313161 0.02968225 -0.02132344
+f 1 2 5
+f 1 5 13
+f 1 13 22
+f 1 22 33
+f 1 33 37
+f 1 37 36
+f 1 36 25
+f 1 25 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 16
+f 2 16 15
+f 2 15 24
+f 2 24 35
+f 2 35 31
+f 2 31 21
+f 2 21 12
+f 2 12 5
+f 3 6 4
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+f 3 11 6
+f 5 12 13
+f 6 11 7
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+f 21 31 32
+f 22 34 46
+f 22 46 54
+f 22 54 51
+f 22 51 50
+f 22 50 49
+f 22 49 48
+f 22 48 47
+f 22 47 45
+f 22 45 33
+f 23 35 24
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+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 30
+f 28 30 29
+f 30 43 44
+f 33 45 37
+f 37 45 47
+f 37 47 38
+f 38 47 48
+f 38 48 39
+f 39 48 40
+f 40 48 49
+f 40 49 41
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 42
+f 42 44 43
+f 46 53 54
+f 51 54 53
+f 51 53 52
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_52.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a41f53f7f0d1c3780266f7b01ca431ebae3ac1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_52.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00767559 0.01107047 -0.02243211
+v 0.02030468 0.00608165 -0.02243213
+v 0.02030468 0.00618351 -0.02232264
+v 0.00767559 0.01140151 -0.02214411
+v 0.00767559 0.02633554 -0.02243205
+v 0.02030468 0.02471041 -0.02243206
+v 0.02030468 0.00788735 -0.02149324
+v 0.01963960 0.00788735 -0.02156117
+v 0.00767559 0.01256132 -0.02134065
+v 0.00767559 0.01147327 -0.02208258
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_53.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ceeb9a97ea581a3dd9d7f565b4f905e038cde7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_53.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v -0.04802168 0.01277908 0.06297362
+v -0.04233797 0.00972342 0.06297361
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+v -0.04777251 0.00972342 0.06297361
+v -0.04798828 0.01155992 0.06297361
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+f 36 41 37
+f 36 40 39
+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_54.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8f03501ac6d0ab8315de8086ae77e35b341379
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_54.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.04802182 0.01277908 0.06297431
+v -0.04801010 0.01226762 0.06297431
+v -0.04782462 0.01277908 0.06348744
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+v -0.04800264 0.01202292 0.06297430
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+v -0.04080316 0.00757681 0.06593653
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+v -0.04080316 0.00780575 0.06777250
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+v -0.04175612 0.00877248 0.06870704
+v -0.04284340 0.00972345 0.06835944
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+v -0.04128070 0.01277906 0.06938641
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_6.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80683235d64c1c27e950630f4d088de1eab9685
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00127193 0.03532853 -0.01305148
+v 0.00127193 0.03532615 -0.01299874
+v 0.00127193 0.03532615 -0.01356773
+v -0.00050803 0.03532496 -0.01358395
+v -0.00181122 0.03532378 -0.01358395
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+v -0.00417126 0.03527742 -0.01121472
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+v -0.00600287 0.03526554 -0.01121472
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+v -0.03931756 0.02502080 -0.00322264
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+
diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_7.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71dd2e2ae18a65edd37446e2c407155dc471255c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_7.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04986773 0.00139516 -0.02628466
+v 0.04985805 0.00139516 -0.02591958
+v 0.04986773 -0.01202136 -0.02628471
+v -0.04904678 0.00139516 -0.02628466
+v 0.04979026 0.00139515 -0.02472517
+v 0.04983868 -0.01202137 -0.02568279
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_8.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea1e06796d260bb033bb4bd54bb1ad2b583bc8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_8.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_9.obj b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36324c21b410b6a97dd059c50a5a859473e29ac0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_collision_9.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mjcf/mesh/magnifier_003_geometry_Looks_material_0.png
new file mode 100644
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