diff --git a/.gitattributes b/.gitattributes
index 81227b4d941190f6f8fd70a1be7d961774526f0f..8b0a26d6371c419e3dae9d33c39850b52134405e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5158,3 +5158,5 @@ dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/mesh/screwdriver_028
 dataset/tools/repair_tools/cb1b79fbc65c521783b441d9f6b7e700/screwdriver_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/measuring_tape_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/cd928aedcd225f829a977bcd29f508b8/mesh/measuring_tape_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.urdf b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..661d0d35066e5a6bc8436c93587a826ee44bbfc3
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_014">
+   <link name="measuring_tape_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_014.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>ca1cd79cbfa158619ae7d00b1cc7d78a</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact tape measure</name>
+         <color>gray,green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact green and gray tape measure with belt clip</description>
+         <min_height>0.0666</min_height>
+         <max_height>0.0666</max_height>
+         <real_height>0.0666</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205359</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070936 -0.060094 -0.029540</min>
+            <max>0.069064 0.067239 0.037040</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Most functional parts are merged into one body color; key parts are not distinctly segmented and merging cannot fix missing separations.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.usd b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.usd
new file mode 100644
index 0000000000000000000000000000000000000000..19b3dba72c3808f361b71dab4ae3639ee164d467
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/measuring_tape_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc6ed45ce9a1b1ea47966fe688fd1ed1bd0c4604692090fb825de5ada9e09885
+size 4988166
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material.mtl b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56f27719b04ca5c5da3e3a4ad83c10fa24fff39a
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_014_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 measuring_tape_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material_0.png b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ce9080d05872d55a9c810b95dc5211b3f75508c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c09ebc30aff345d8923c5ac546b5cc5c91af369b7414b98593af78e86b4437
+size 11204234
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.glb b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f8e46103f4e24c7183f38946803de04f957c96dd
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa00257563f7ac471bec21dca47558fac6704bbcd45c15a396ee22eb53d4c60
+size 14662248
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.mtl b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d2f64f5572aad6085ca375ac808e37ff180b160
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_014_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9607ce1fdf6f3d397346381bb2dd0c472da76bff
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014.obj
@@ -0,0 +1,116112 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_014_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_collision.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea20b0c5fbc2a34bced82240071bac15801e0bd4
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_collision.obj
@@ -0,0 +1,16954 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_geometry_Looks_material_0.png b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ce9080d05872d55a9c810b95dc5211b3f75508c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mesh/measuring_tape_014_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:18c09ebc30aff345d8923c5ac546b5cc5c91af369b7414b98593af78e86b4437
+size 11204234
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/measuring_tape_014.xml b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/measuring_tape_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8c7f0cd34dbfcf0b024513ccd71a42e30919a9f
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/measuring_tape_014.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_014">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/measuring_tape_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/measuring_tape_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/measuring_tape_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/measuring_tape_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/measuring_tape_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/measuring_tape_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/measuring_tape_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/measuring_tape_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/measuring_tape_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/measuring_tape_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/measuring_tape_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/measuring_tape_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/measuring_tape_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/measuring_tape_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/measuring_tape_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_014">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ce9080d05872d55a9c810b95dc5211b3f75508c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c09ebc30aff345d8923c5ac546b5cc5c91af369b7414b98593af78e86b4437
+size 11204234
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f87209aae2d1a0a802414484cef9b7a69673be7
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014.obj
@@ -0,0 +1,116112 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_014_geometry_Looks_material_0
+v 0.068295 0.004010 -0.016598
+v 0.068295 0.004010 -0.016598
+v 0.068295 0.004010 -0.016598
+v 0.068074 0.004256 -0.017040
+v 0.068074 0.004256 -0.017040
+v 0.068186 0.004290 -0.012170
+v 0.068186 0.004290 -0.012170
+v -0.065615 -0.045681 0.018001
+v -0.065615 -0.045681 0.018001
+v -0.065059 -0.046754 0.017953
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a13e6b5b2efa3a1c0892fc89b93ad2d0233a0b
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision.obj
@@ -0,0 +1,16954 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_0.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0bdbe59202d71f787e53170861d36a8ec652cec
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_0.obj
@@ -0,0 +1,2236 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_1.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec9aa18dc6e48b0c1a5deb1d122386ba2f88d82
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_1.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_10.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5387726531c42847f0c279d3883a13a1d097fd7d
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_10.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_11.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2ea1202ddb3216a53f706b7573d124d7de86f1f
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_11.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_12.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fae7bbb9edc84a52626df43067c89903f352605
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_12.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_13.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11b7a66407815277f7aff862ead843fa16f875c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_13.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_14.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610d6d762475bafbfc2addae6806e78394309d7f
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_14.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_15.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5e19afcbb13a1d45593aae82cf1669e058559c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_15.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_16.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f903ea4463d2eb2949c26c95bd954e1f12db1f
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_16.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.05479583 -0.03379743 -0.02013399
+v -0.05479583 -0.02814157 -0.02046204
+v -0.05252442 -0.02814158 -0.02016197
+v -0.05252442 -0.03379743 -0.01982592
+v -0.05479583 -0.03379757 0.01999128
+v -0.05479583 -0.02814172 0.02040339
+v -0.05252442 -0.02814172 0.01995529
+v -0.05252442 -0.03379757 0.01959119
+v -0.05471867 -0.03379757 0.01998327
+f 1 2 3
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+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 8
+f 6 8 7
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_17.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58607487eed039865e7b74c1c6c4db6e21a1f96a
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_17.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05507809 -0.00766373 -0.02923027
+v -0.05507809 -0.00222857 -0.02920569
+v -0.05479583 -0.00222857 -0.02920842
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+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_18.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8382289722890bd5fb724a17cc5ca085ad76bc
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_18.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00944907 0.00482644 0.03045053
+v 0.01049849 0.00478135 0.03044924
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_19.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33d705487a0028cd156c57f50d2db23c239f6b03
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_19.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_2.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece6e2531b606dd6c1f4e7f4114115194164635c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_2.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_20.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f701da61a311bf5c60ecafb049d8fa94dc10aa1
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_20.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_21.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8911fa54220e657732c719563d725dc111a82ac7
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_21.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_22.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de3a41d7a0864ecb4db7c25e391385753e9ba005
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_22.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+f 1 13 20
+f 1 20 21
+f 1 21 14
+f 1 14 10
+f 1 10 17
+f 1 17 24
+f 1 24 31
+f 1 31 30
+f 1 30 35
+f 1 35 33
+f 1 33 26
+f 1 26 19
+f 1 19 11
+f 1 11 2
+f 2 11 3
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 18
+f 5 18 25
+f 5 25 28
+f 5 28 27
+f 5 27 34
+f 5 34 32
+f 5 32 23
+f 5 23 15
+f 5 15 22
+f 5 22 29
+f 5 29 20
+f 5 20 13
+f 5 13 8
+f 5 8 7
+f 5 7 6
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 18 12
+f 11 19 18
+f 14 21 22
+f 14 22 15
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 18 19 25
+f 19 26 27
+f 19 27 28
+f 19 28 25
+f 20 29 21
+f 21 29 22
+f 23 30 31
+f 23 31 24
+f 23 32 30
+f 26 33 34
+f 26 34 27
+f 30 32 35
+f 32 34 35
+f 33 35 34
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_23.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd771268cfabb4483b57b373a00ff9d9d578a580
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_23.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04428682 -0.01830838 -0.02909936
+v -0.04428682 -0.01529758 -0.02911064
+v -0.04355533 -0.01830838 -0.02908806
+v -0.04428682 -0.01830859 0.02850496
+v -0.04428682 0.02077117 -0.02908791
+v -0.04355533 0.02077117 -0.02908791
+v -0.04355533 -0.01602698 -0.02909370
+v -0.02522517 -0.00222514 -0.02858553
+v -0.02522517 -0.00442145 -0.02857989
+v -0.02522517 -0.00912607 -0.02855167
+v -0.02522517 -0.01372938 -0.02850652
+v -0.02522517 -0.01602699 -0.02848395
+v -0.02522517 -0.01830839 -0.02845573
+v -0.04353294 -0.01830859 0.02850496
+v -0.04428682 -0.01676064 0.02851062
+v -0.04428682 0.02308903 -0.02907662
+v -0.04355533 0.02308903 -0.02907662
+v -0.02522517 0.00477303 -0.02859114
+v -0.02522517 0.00007246 -0.02859116
+v -0.02522517 -0.01830859 0.02728547
+v -0.04140565 0.02308882 0.02856157
+v -0.04355533 -0.01602719 0.02851062
+v -0.04125077 -0.01830859 0.02843157
+v -0.04355533 0.02077096 0.02856722
+v -0.04428682 0.01992404 0.02855592
+v -0.04428682 0.02308882 0.02853899
+v -0.04125077 0.02308903 -0.02900323
+v -0.02522517 0.00937633 -0.02856855
+v -0.02522517 -0.00923163 0.02730809
+v -0.03899658 0.02308882 0.02843172
+v -0.03894620 -0.01830859 0.02830736
+v -0.04147096 0.02308882 0.02856157
+v -0.04370648 0.02308882 0.02855028
+v -0.04428682 0.02266334 0.02854464
+v -0.02522517 0.01387024 -0.02851772
+v -0.02522517 0.01156858 -0.02855160
+v -0.02522517 0.02308902 -0.02833702
+v -0.02522517 0.01857486 -0.02842736
+v -0.02522517 0.01627725 -0.02847254
+v -0.02522517 -0.00692997 0.02731374
+v -0.02522517 0.00226855 0.02731942
+v -0.02522517 0.01387004 0.02731946
+v -0.02522517 0.02308882 0.02731385
+f 1 2 3
+f 1 3 13
+f 1 13 20
+f 1 20 31
+f 1 31 23
+f 1 23 14
+f 1 14 4
+f 1 4 15
+f 1 15 25
+f 1 25 34
+f 1 34 26
+f 1 26 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 28
+f 8 28 36
+f 8 36 35
+f 8 35 39
+f 8 39 38
+f 8 38 37
+f 8 37 43
+f 8 43 42
+f 8 42 41
+f 8 41 40
+f 8 40 29
+f 8 29 20
+f 8 20 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 14 21 22
+f 14 22 15
+f 14 23 21
+f 15 22 24
+f 15 24 25
+f 16 26 33
+f 16 33 32
+f 16 32 21
+f 16 21 30
+f 16 30 43
+f 16 43 37
+f 16 37 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 20 29 30
+f 20 30 31
+f 21 32 24
+f 21 24 22
+f 21 23 31
+f 21 31 30
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 34 33
+f 27 35 36
+f 27 36 28
+f 27 37 38
+f 27 38 39
+f 27 39 35
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 43
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_24.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888d64bd5bcc8b14a3a0b95cf6bdd3a7f73e945e
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_24.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.05778500 0.00468170 -0.00135000
+v -0.06107928 0.00794433 -0.00134999
+v -0.05479583 0.00468170 -0.00135000
+v -0.06032465 0.00468168 0.00476814
+v -0.06134524 0.00833789 -0.00134999
+v -0.05479583 0.01491222 -0.00134997
+v -0.05479583 0.00468166 0.01079118
+v -0.06197668 0.00927321 -0.00134999
+v -0.06055634 0.00468166 0.01079118
+v -0.06312944 0.01491222 -0.00134997
+v -0.05479583 0.01491218 0.01079121
+v -0.06223285 0.00995218 -0.00134998
+v -0.06202645 0.00927317 0.01079119
+v -0.06281127 0.01157245 0.00929465
+v -0.06210558 0.00927318 0.00703139
+v -0.06210395 0.00927319 0.00476815
+v -0.06284064 0.01157248 -0.00134998
+v -0.06308701 0.01387274 -0.00134997
+v -0.06308783 0.01387274 0.00024286
+v -0.06312944 0.01491220 0.00451022
+v -0.06300462 0.01491218 0.01079121
+v -0.06256489 0.01157244 0.01079120
+v -0.06276966 0.01309260 0.01079121
+v -0.06304378 0.01491218 0.01051425
+v -0.06307233 0.01387271 0.00929466
+v -0.06283982 0.01157245 0.00703140
+v -0.06284227 0.01157246 0.00476816
+v -0.06284145 0.01157248 0.00024285
+v -0.06291406 0.01225244 -0.00134997
+v -0.06308783 0.01387273 0.00250611
+v -0.06308701 0.01387272 0.00476817
+v -0.06312699 0.01491219 0.00703141
+v -0.06312128 0.01491219 0.00929466
+v -0.06312291 0.01491219 0.00900819
+v -0.06308212 0.01387271 0.00703141
+f 1 2 5
+f 1 5 8
+f 1 8 12
+f 1 12 17
+f 1 17 29
+f 1 29 18
+f 1 18 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 11
+f 3 11 7
+f 4 8 5
+f 4 9 8
+f 6 10 20
+f 6 20 32
+f 6 32 34
+f 6 34 33
+f 6 33 24
+f 6 24 21
+f 6 21 11
+f 7 11 21
+f 7 21 23
+f 7 23 22
+f 7 22 13
+f 7 13 9
+f 8 9 12
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 12
+f 10 18 19
+f 10 19 30
+f 10 30 20
+f 13 22 14
+f 14 22 23
+f 14 23 21
+f 14 21 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 17
+f 15 17 16
+f 17 28 29
+f 18 29 19
+f 19 27 30
+f 19 29 27
+f 20 30 31
+f 20 31 32
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 31
+f 26 31 27
+f 27 31 30
+f 27 29 28
+f 31 35 34
+f 31 34 32
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_25.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf532d3baefef0036284d2476bf9ef1c48edba8
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_25.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.05479583 0.00468045 0.01079118
+v -0.05479583 0.00468049 -0.00135000
+v -0.06055589 0.00468045 0.01079118
+v -0.05479583 -0.00766388 0.01079113
+v -0.05778483 0.00468049 -0.00135000
+v -0.05479583 -0.00766384 -0.00135005
+v -0.06032523 0.00468047 0.00476814
+v -0.06135921 0.00245448 0.01079117
+v -0.06289984 -0.00766388 0.01079113
+v -0.06256420 -0.00766384 -0.00135005
+v -0.06094164 0.00169681 0.00348316
+v -0.06099096 0.00193124 0.00476813
+v -0.06279485 -0.00766384 0.00123770
+v -0.06143080 0.00211974 0.01079117
+v -0.06292132 -0.00766385 0.00347718
+v -0.06284178 -0.00704999 0.01079113
+v -0.06152783 0.00164965 0.01079117
+v -0.06238683 -0.00310440 0.01079115
+v -0.06195892 -0.00070804 0.01079116
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 17
+f 1 17 19
+f 1 19 18
+f 1 18 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 7 8
+f 4 9 15
+f 4 15 13
+f 4 13 10
+f 4 10 6
+f 5 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 8
+f 8 12 11
+f 8 11 13
+f 8 13 14
+f 9 16 15
+f 10 13 11
+f 13 15 17
+f 13 17 14
+f 15 16 18
+f 15 18 19
+f 15 19 17
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_26.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9a4eb2b2c59b4a61a0e62a43d48b4efa5ea4d0
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_26.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.04428972 0.03901286 -0.00120750
+v -0.04428972 0.04287575 -0.00743799
+v -0.05046894 0.03725646 -0.00120750
+v -0.04428972 -0.01830849 -0.00120771
+v -0.04428972 0.04306890 -0.00817806
+v -0.05277277 0.03658649 -0.00120751
+v -0.05129688 0.03702106 -0.00120750
+v -0.05479480 -0.01830849 -0.00120771
+v -0.04428972 -0.01830844 -0.01235889
+v -0.04428972 0.04335260 -0.01235866
+v -0.05479480 0.03533710 -0.00120751
+v -0.05475675 0.03536124 -0.00120751
+v -0.05479480 -0.01830844 -0.01235889
+v -0.05479480 0.03516815 -0.01235869
+v -0.05479480 0.03532507 -0.01107394
+v -0.05479480 0.03533110 -0.01035571
+v -0.05479480 0.03533712 -0.00654842
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 12
+f 1 12 11
+f 1 11 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 13
+f 4 13 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 8 11 17
+f 8 17 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_27.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d32a92617fd79c00a9ae747535934a4b4d142a8
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_27.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.04428972 0.04346770 0.01086008
+v -0.04428972 0.04344351 0.01052575
+v -0.05479480 0.03533451 -0.00120633
+v -0.05479480 0.03534055 0.00250667
+v -0.05479480 0.03534054 0.00477015
+v -0.05479480 0.03533448 0.00703245
+v -0.05479480 0.03531029 0.00929475
+v -0.05479480 0.03529819 0.00963026
+v -0.05479480 0.03502002 0.01086005
+v -0.04428972 -0.01830852 0.01085985
+v -0.04428972 0.04301419 0.00471820
+v -0.05475675 0.03535870 -0.00120633
+v -0.05479480 -0.01830848 -0.00120653
+v -0.05479480 -0.01830852 0.01085985
+v -0.04428972 -0.01830848 -0.00120653
+v -0.04428972 0.03901109 -0.00120632
+v -0.05046894 0.03725746 -0.00120632
+v -0.05277277 0.03658624 -0.00120633
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 14
+f 1 14 10
+f 1 10 15
+f 1 15 16
+f 1 16 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 13
+f 3 13 14
+f 3 14 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 10 14 13
+f 10 13 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+
diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_28.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..732ea160889ccb78bb64660d1072f290177bfb6b
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_28.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
+v -0.04428972 0.04335172 -0.01235866
+v -0.04428972 0.04817202 -0.01556496
+v -0.05479480 0.03517042 -0.01235869
+v -0.04428972 -0.01830843 -0.01235889
+v -0.04428972 0.04831729 -0.01567409
+v -0.04520302 0.04775603 -0.01623962
+v -0.04740504 0.04537229 -0.01635538
+v -0.04956077 0.04293573 -0.01647280
+v -0.05166508 0.04038692 -0.01667786
+v -0.05358632 0.03748815 -0.01786515
+v -0.05429598 0.03633920 -0.01786516
+v -0.05479480 0.03546759 -0.01786516
+v -0.05479480 -0.01830843 -0.01235889
+v -0.04428972 -0.01830837 -0.02910154
+v -0.04428972 0.04914269 -0.01783038
+v -0.04542518 0.04797394 -0.01786511
+v -0.04657812 0.04673915 -0.01786512
+v -0.04759428 0.04558360 -0.01786512
+v -0.04874620 0.04422996 -0.01786513
+v -0.04967493 0.04308101 -0.01786513
+v -0.05082788 0.04155569 -0.01786514
+v -0.05167948 0.04040674 -0.01786514
+v -0.05249302 0.03917195 -0.01786515
+v -0.05165582 0.04037372 -0.01920951
+v -0.05351021 0.03735608 -0.02012892
+v -0.05421884 0.03620714 -0.02012893
+v -0.05479480 0.03518365 -0.02012893
+v -0.05479480 -0.01830837 -0.02923713
+v -0.04586023 -0.01830837 -0.02912800
+v -0.04428972 -0.01602369 -0.02910814
+v -0.04428972 0.04914930 -0.01786511
+v -0.04430926 0.04912949 -0.01786511
+v -0.04529456 0.04782207 -0.02012888
+v -0.04644648 0.04660709 -0.02012889
+v -0.04748320 0.04545814 -0.02012889
+v -0.04863512 0.04409790 -0.02012890
+v -0.04957208 0.04294895 -0.02012890
+v -0.05152829 0.04018884 -0.02071759
+v -0.05223178 0.03932382 -0.02002970
+v -0.05084845 0.04127175 -0.02002969
+v -0.05406148 0.03594963 -0.02167504
+v -0.05479480 0.03462900 -0.02141708
+v -0.05479480 -0.01602369 -0.02924539
+v -0.05277277 -0.01830837 -0.02921564
+v -0.04816510 -0.01830837 -0.02916107
+v -0.04586023 -0.01602369 -0.02913460
+v -0.04428972 -0.01529734 -0.02910980
+v -0.04428972 0.04882575 -0.02012888
+v -0.04502818 0.04755135 -0.02197926
+v -0.04725693 0.04520063 -0.02185524
+v -0.04942398 0.04275747 -0.02154107
+v -0.05127014 0.03983227 -0.02238938
+v -0.05206825 0.03868333 -0.02238939
+v -0.05328805 0.03677502 -0.02241253
+v -0.05380436 0.03551383 -0.02318312
+v -0.05452842 0.03467522 -0.02241254
+v -0.05479480 0.03416678 -0.02243073
+v -0.05479480 -0.01400973 -0.02925034
+v -0.05046894 -0.01372579 -0.02920073
+v -0.05046894 -0.01830837 -0.02918918
+v -0.04816510 -0.01602369 -0.02916602
+v -0.04586023 -0.01372579 -0.02913955
+v -0.04586023 -0.01142790 -0.02914119
+v -0.04586023 0.01387535 -0.02912788
+v -0.04428972 0.02076903 -0.02908981
+v -0.04428972 0.04808620 -0.02238438
+v -0.04469186 0.04720799 -0.02348734
+v -0.04598468 0.04620431 -0.02267212
+v -0.04694119 0.04484407 -0.02336333
+v -0.04818978 0.04380076 -0.02245220
+v -0.04912160 0.04237448 -0.02304915
+v -0.05002154 0.04155570 -0.02233315
+v -0.05178541 0.03826734 -0.02378171
+v -0.05423736 0.03398190 -0.02403473
+v -0.05479480 0.03229810 -0.02448616
+v -0.05479480 -0.01372579 -0.02925034
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_29.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7130fa6e94d9e55fc42e3a66353ba6b8d2f26bfb
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_29.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_3.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa786d5fe3e34545a2a36fa062b314bb0caf511
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_3.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_30.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee06c5a102fc32572a159c30ea9d4fb5f354a254
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_30.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_31.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5ce889be619b22866626c671eef2ef03760204
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_31.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_4.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86007f5e7fe8607a47c4abd48e6bd35455f99897
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_4.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_5.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33f5cdb8b692b66c6a8d3d973be6bff69fa6022b
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_5.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_6.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5ae007a4c6e04cf4f8e7a953236378bafb259c
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_6.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_7.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5927cbfe2049a6c23ce5e40ed4518e2f869a0f73
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_7.obj
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_8.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53296375fefaaf5ff04206ce38922016ca07174d
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_8.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_9.obj b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff3bc2486010e6d92be1d54cb0dc6f6f38e8dad
--- /dev/null
+++ b/dataset/tools/repair_tools/ca1cd79cbfa158619ae7d00b1cc7d78a/mjcf/mesh/measuring_tape_014_collision_9.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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