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Offset a solid object by a specified distance

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I'm really in a standstill that I don't know how to offset a solid by a specified distance like this picture below.(to generate the toolpath of cutter) http://www.smlib.com/Manual/DocImages/smlib_offsetting.jpg Would you mind giving to me a sample similiar to this case (such as offsetting a 3D solid square) it's difficult please help me :((

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