diff --git a/.gitattributes b/.gitattributes
index 7647a926abc75b0496c9abb68a805c08676a7477..cd82fbe19bb365442d242135802700c047664265 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5184,3 +5184,5 @@ dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/hex_key_022.usd filt
 dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.urdf b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..06527a1470e088ed30ab5227536d9552df3ae0f4
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_040">
+   <link name="measuring_tape_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>f24b118c69e15dbf9ef1049d4971b288</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact tape measure</name>
+         <color>brown,green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact brown and green retractable measuring tape with metal belt clip</description>
+         <min_height>0.0686</min_height>
+         <max_height>0.0686</max_height>
+         <real_height>0.0686</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609210606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.068620 -0.067384 -0.029234</min>
+            <max>0.071380 0.070844 0.039369</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.usd b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b4681b06d4ace5bc2b876929cc64ec2d7b918b4b
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/measuring_tape_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33afc56e2582262e8b2974a01b1ac4ca651efb494c0d26daf32d8337173c5577
+size 4963778
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material.mtl b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8729f0f14b6e84a79c3742c8d5a96eb54fdd1fe
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material_0.png b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c10ab7d9fc01d06e6de288c97757a460beff19bd
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e939a35c136d4defa5d0ea505887f24b1b54d27771ca53832e8501ae4304ac7
+size 11657817
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.glb b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c144a12f9f6b012e418b43212e05a6097bfcfa1a
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e83560979daf6147fed9e2c01a3c9d4392f13a03533ab8ea2ee8dfb26a7529e
+size 15079972
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.mtl b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ec62cf3876626b2e853947d6671fed0ce95ee59
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_040_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/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c029b6a8ae06fb05f40f324cc992df4f07834cc3
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040.obj
@@ -0,0 +1,114264 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_040_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040_collision.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7300a1bc7006ae9b4e959b01fb4dfd4b1c5e9dc3
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mesh/measuring_tape_040_collision.obj
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index 0000000000000000000000000000000000000000..dfd8bebd2cbfbea6a3439e79eb781ce8d130297d
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040.obj
@@ -0,0 +1,114264 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_040_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94cf99606d4dedb1d0107c89f929e794c1e9d91b
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision.obj
@@ -0,0 +1,24013 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_0.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e29e23947d936d97c6f1721559a8490355da709
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_0.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_1.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112e204cf54b455486deac2b37962feb7d4d9e9a
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_1.obj
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_10.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c6f270b8d3e66c583a0811c408120f37cea17d8
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_10.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_11.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e783d13a858588102da2e7dfbac00ff89e98395
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_11.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_12.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960199a0d40f33bc310dde0e40b9448bb6c15786
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_12.obj
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_13.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fadfc17556aeba971d2b53399d4ea83df47be06
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_13.obj
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_14.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c150a4c6d964d637fcb28ebffbceb61ec93ea793
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_14.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_15.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb60f2961fe378e23eab3d4ac074a71bd3cc79
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_15.obj
@@ -0,0 +1,1324 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_16.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59493c9e99d143efd1747fb84606ac62ac935d38
--- /dev/null
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_17.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42bad96575c9845b313ec9bdcea953449eabce61
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_17.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_18.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..156ceb0b1429edf805928da3f72b416c4a48053c
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01909502 -0.06364998 -0.00301726
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_19.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ecee21bdfe3703268dd35e0ae4ffdb3550bca0
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_19.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_2.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2c9696ec1ebae1ed437f192aa511480ec00761
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_2.obj
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_20.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ac7e4afe082fed4ad0d2a0ab15878d17cf57ce
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_20.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_21.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac27ae05277f72e1b3616aeb05edf573c13a0e2d
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_21.obj
@@ -0,0 +1,286 @@
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_22.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e030dfad5d127add3f9ec5df6b9b9e23abf275a
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_22.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.05993465 -0.05864001 -0.02535237
+v 0.05993465 -0.05853325 -0.02550870
+v 0.06129341 -0.05822254 -0.02452430
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+v 0.05993465 -0.05864008 -0.00443612
+v 0.05993465 -0.05776674 -0.02638070
+v 0.06052466 -0.05746424 -0.02608270
+v 0.06129268 -0.05590250 -0.02683015
+v 0.06193355 -0.05668407 -0.02531572
+v 0.06347179 -0.05566025 -0.02424828
+v 0.06606942 -0.05864004 -0.01562581
+v 0.06102239 -0.05864008 -0.00443612
+v 0.05993465 -0.04465695 -0.00443606
+v 0.05993465 -0.05688253 -0.02703044
+v 0.06262311 -0.05501282 -0.02589461
+v 0.05993465 -0.05622279 -0.02744813
+v 0.06038588 -0.05500050 -0.02777788
+v 0.06177442 -0.05436540 -0.02721607
+v 0.06387215 -0.05412314 -0.02495908
+v 0.06650175 -0.05864005 -0.01437518
+v 0.06512119 -0.05249296 -0.02345685
+v 0.06617259 -0.05404108 -0.00443610
+v 0.06591319 -0.05864007 -0.00873026
+v 0.05993465 -0.04465686 -0.02938998
+v 0.06276262 -0.04465695 -0.00443606
+v 0.06336861 -0.05249295 -0.02654434
+v 0.05993465 -0.05499366 -0.02799283
+v 0.05993465 -0.05453513 -0.02816870
+v 0.05993465 -0.05271194 -0.02879889
+v 0.06010831 -0.05259560 -0.02875004
+v 0.06221548 -0.05249295 -0.02754826
+v 0.06416570 -0.05249296 -0.02540852
+v 0.06697913 -0.05249300 -0.01437515
+v 0.06664925 -0.05864005 -0.01286564
+v 0.06563999 -0.05029886 -0.02338112
+v 0.06602655 -0.04960355 -0.02257261
+v 0.06661365 -0.05249303 -0.00443609
+v 0.06627141 -0.05864006 -0.00979769
+v 0.06003056 -0.04465686 -0.02937776
+v 0.05999859 -0.04557529 -0.02937533
+v 0.05993465 -0.04557529 -0.02938266
+v 0.06479058 -0.04556306 -0.00443607
+v 0.06611883 -0.04465690 -0.01965853
+v 0.06360548 -0.05118580 -0.02682768
+v 0.05993465 -0.05244504 -0.02885263
+v 0.06074191 -0.05018797 -0.02891612
+v 0.06269577 -0.05032485 -0.02766550
+v 0.06434008 -0.05032485 -0.02593367
+v 0.06735697 -0.05018804 -0.01210350
+v 0.06719639 -0.05249301 -0.01210351
+v 0.06611737 -0.04788166 -0.02285351
+v 0.06619367 -0.04557532 -0.02310510
+v 0.06671900 -0.05864006 -0.01210354
+v 0.06573227 -0.04788165 -0.02398934
+v 0.06690211 -0.05105311 -0.00443609
+v 0.06645161 -0.05864006 -0.01064284
+v 0.06118369 -0.04465686 -0.02909442
+v 0.05993465 -0.04658816 -0.02936800
+v 0.06115172 -0.04557529 -0.02908466
+v 0.06572791 -0.04606539 -0.00443607
+v 0.06623581 -0.04465690 -0.02030583
+v 0.06629031 -0.04636788 -0.00443607
+v 0.06374717 -0.04964732 -0.02697912
+v 0.05993465 -0.05018797 -0.02919214
+v 0.06100568 -0.04788163 -0.02903093
+v 0.06248505 -0.04788164 -0.02812960
+v 0.06480221 -0.04788165 -0.02572849
+v 0.06701546 -0.04788170 -0.01210350
+v 0.06698058 -0.04788172 -0.00443608
+v 0.06707505 -0.05018806 -0.00443608
+v 0.06621111 -0.04465688 -0.02316127
+v 0.06638622 -0.04465689 -0.02118518
+v 0.06582310 -0.04557531 -0.02424092
+v 0.06584272 -0.04465688 -0.02429709
+v 0.06606578 -0.04465688 -0.02361315
+v 0.06198660 -0.04465686 -0.02860589
+v 0.06248505 -0.04557530 -0.02827370
+v 0.05993465 -0.04788163 -0.02933626
+v 0.06386125 -0.04788164 -0.02709637
+v 0.06395498 -0.04557530 -0.02718918
+v 0.06498749 -0.04557531 -0.02572848
+v 0.06502673 -0.04465688 -0.02572847
+v 0.06248505 -0.04465687 -0.02830056
+v 0.06397533 -0.04465687 -0.02720626
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_23.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae55dfa54a06edac285a913aca3245e80649b5bc
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_23.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05993259 -0.02176907 0.00353803
+v 0.05993259 -0.02176900 -0.01548137
+v 0.04633852 -0.02176907 0.00353803
+v 0.05993259 -0.05988809 0.00353789
+v 0.04633852 -0.02176900 -0.01548137
+v 0.05993259 -0.06055325 -0.01548151
+v 0.04633852 -0.05941176 0.00353789
+v 0.05920059 -0.06072168 0.00353789
+v 0.05993259 -0.06164968 -0.00548591
+v 0.04633852 -0.05972377 -0.01548151
+v 0.05993259 -0.06137452 -0.01463816
+v 0.05901958 -0.06127185 -0.01548152
+v 0.04633852 -0.06010984 0.00353603
+v 0.04633985 -0.06010984 0.00353789
+v 0.05904886 -0.06083665 0.00353789
+v 0.05787099 -0.06172362 0.00353788
+v 0.05770463 -0.06183860 0.00353788
+v 0.05641762 -0.06272146 0.00353788
+v 0.05993259 -0.06191247 -0.00755801
+v 0.05164892 -0.06315255 -0.01548152
+v 0.04633852 -0.06289800 -0.00645960
+v 0.05993259 -0.06192067 -0.01212297
+v 0.05494429 -0.06313202 -0.01548152
+v 0.04633852 -0.06278715 0.00023331
+v 0.04633985 -0.06278715 0.00023518
+v 0.05173676 -0.06310745 0.00353788
+v 0.05539680 -0.06318137 0.00353788
+v 0.05526504 -0.06323885 0.00353788
+v 0.05993259 -0.06195763 -0.00982932
+v 0.05236096 -0.06330859 -0.01548152
+v 0.04633852 -0.06365357 -0.00302099
+v 0.04633852 -0.06329631 -0.00529043
+v 0.05993259 -0.06192478 -0.01210063
+v 0.05506008 -0.06318131 -0.01437194
+v 0.05418034 -0.06330038 -0.01548152
+v 0.04633852 -0.06325527 -0.00090420
+v 0.04633985 -0.06325527 -0.00090048
+v 0.05301844 -0.06343596 0.00353788
+v 0.05503612 -0.06327581 0.00353788
+v 0.05325800 -0.06363716 -0.00074595
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+v 0.05993259 -0.06195763 -0.00984421
+v 0.05325800 -0.06341125 -0.01548152
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+v 0.05325800 -0.06364125 -0.00528857
+v 0.05325800 -0.06347702 0.00353788
+v 0.05325800 -0.06357147 0.00152535
+v 0.05523310 -0.06323059 -0.00982932
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+f 42 51 43
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+f 45 50 46
+f 46 50 49
+f 47 51 48
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_24.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a2704cf11397e3b91539de0a6fb7d2fa16f102
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01909502 -0.03177792 0.00391922
+v 0.01909502 -0.05996583 0.00391912
+v 0.01909502 -0.03177786 -0.01439281
+v -0.02262448 -0.03177792 0.00391922
+v 0.01909502 -0.06275901 0.00017819
+v 0.01647735 -0.05996894 0.00391912
+v 0.01909502 -0.05943833 -0.01439291
+v -0.02262448 -0.03177786 -0.01439281
+v -0.02262448 -0.05997207 0.00391912
+v 0.01909502 -0.06324899 -0.00095645
+v -0.00209551 -0.06276214 0.00018895
+v -0.01362392 -0.06276525 0.00019253
+v -0.01132069 -0.06276525 0.00019074
+v -0.00209551 -0.06325523 -0.00094749
+v -0.01811603 -0.05997207 0.00391912
+v -0.02054586 -0.06276525 0.00019432
+v 0.01909502 -0.06291504 -0.00648089
+v 0.01174020 -0.05944458 -0.01439291
+v -0.02262448 -0.05944145 -0.01439291
+v -0.02262448 -0.06276525 0.00019432
+v 0.01404752 -0.06365158 -0.00301781
+v 0.01909502 -0.06357356 -0.00263063
+v -0.00439874 -0.06366094 -0.00301781
+v -0.00901337 -0.06325523 -0.00094390
+v -0.00439874 -0.06325523 -0.00094570
+v -0.02262448 -0.06320530 -0.00082739
+v 0.01909502 -0.06331452 -0.00528710
+v 0.01635483 -0.06331763 -0.00528710
+v 0.01174020 -0.06332076 -0.00528710
+v 0.01174020 -0.06291816 -0.00648448
+v 0.00251503 -0.06292128 -0.00648806
+v 0.00020772 -0.06292128 -0.00648985
+v 0.00249461 -0.05944458 -0.01439291
+v -0.02262448 -0.06292128 -0.00648985
+v 0.01909502 -0.06364846 -0.00301781
+v -0.02262448 -0.06325212 -0.00094032
+v -0.01593123 -0.06365782 -0.00301781
+v -0.02262448 -0.06335821 -0.00506304
+v -0.00901337 -0.06332700 -0.00528710
+v -0.00209551 -0.06332700 -0.00528710
+v -0.02262448 -0.06296185 -0.00636976
+v -0.02262448 -0.06365470 -0.00301781
+v -0.02262448 -0.06332388 -0.00528710
+f 1 2 5
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+f 1 10 22
+f 1 22 35
+f 1 35 27
+f 1 27 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 18
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+f 21 29 35
+f 21 35 22
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+f 23 40 29
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+f 27 35 28
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+f 32 40 41
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+f 36 42 37
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+f 39 43 41
+f 39 41 40
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_25.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109c63b936333d2d8a81131a673e4a75758f0e50
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00585704 0.01178979 0.02904511
+v -0.00585704 0.01178979 0.03365367
+v -0.00585704 0.01278979 0.02904511
+v -0.00585704 0.01278979 0.03365367
+v -0.00341403 0.01178979 0.02904511
+v -0.00341403 0.01178979 0.03365367
+v -0.00341403 0.01278979 0.02904511
+v -0.00341403 0.01278979 0.03365367
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_26.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c9fe536bfa8ec81bb6ea4c5ee6960d8c8fbb19
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.02326854 0.00584825 0.00764567
+v 0.02326854 0.00584818 0.02719429
+v 0.02326854 0.01238064 0.00764570
+v 0.06308183 0.00584825 0.00764567
+v 0.02326854 0.01238057 0.02732186
+v 0.04403528 0.00584817 0.02866409
+v 0.06319295 0.01238064 0.00764570
+v 0.06451755 0.00584825 0.00790702
+v 0.04403528 0.00978295 0.02871429
+v 0.04403528 0.01208895 0.02872893
+v 0.04403528 0.01238056 0.02872476
+v 0.05095160 0.00584817 0.02897353
+v 0.06785124 0.01238064 0.00927859
+v 0.06674446 0.00584825 0.00861788
+v 0.05095160 0.01208895 0.02900282
+v 0.05095160 0.01238056 0.02900283
+v 0.05162723 0.00584817 0.02898398
+v 0.06840686 0.01238063 0.00988073
+v 0.06818461 0.01116176 0.00958383
+v 0.06779791 0.00584824 0.01063337
+v 0.05325852 0.00584817 0.02900280
+v 0.05325852 0.00978295 0.02900491
+v 0.05325852 0.01238056 0.02900283
+v 0.06857577 0.01238063 0.01047450
+v 0.06839797 0.00978302 0.01106827
+v 0.06830018 0.00818366 0.01149059
+v 0.06834019 0.00584821 0.01833573
+v 0.05556544 0.00584817 0.02900280
+v 0.05556544 0.00747695 0.02900281
+v 0.05556544 0.01208895 0.02899864
+v 0.05556544 0.01238056 0.02899656
+v 0.06867356 0.01238062 0.01288306
+v 0.06834019 0.00584821 0.01891906
+v 0.05786792 0.00584817 0.02898816
+v 0.05786792 0.00747695 0.02898190
+v 0.05786792 0.00978295 0.02896937
+v 0.05786792 0.01208895 0.02894219
+v 0.05786792 0.01238056 0.02893592
+v 0.06842020 0.01238062 0.01421697
+v 0.06830018 0.00673262 0.01876225
+v 0.06805572 0.00584821 0.02000416
+v 0.06017484 0.00584817 0.02876445
+v 0.06017484 0.00747695 0.02873101
+v 0.06017484 0.00978295 0.02865784
+v 0.06017484 0.01208896 0.02854494
+v 0.06017484 0.01238057 0.02852613
+v 0.06734897 0.01238060 0.01939996
+v 0.06799793 0.00749170 0.01959020
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+v 0.06743787 0.00584820 0.02196530
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+v 0.06224174 0.00584818 0.02809959
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+v 0.06199727 0.00978296 0.02801180
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+v 0.06177946 0.01238057 0.02790727
+v 0.06659777 0.01238059 0.02196951
+v 0.06665556 0.01208898 0.02196532
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+v 0.06641553 0.00747697 0.02393062
+v 0.06648665 0.00584819 0.02404351
+v 0.06627774 0.00978297 0.02369438
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+v 0.06330852 0.00747696 0.02743265
+v 0.06315295 0.00978296 0.02731139
+v 0.06296182 0.01208896 0.02714622
+v 0.06293515 0.01238057 0.02711905
+v 0.06607327 0.01238058 0.02333477
+v 0.06609994 0.01208897 0.02338076
+v 0.06573546 0.00747697 0.02506799
+v 0.06601104 0.00584819 0.02484636
+v 0.06557989 0.00978297 0.02482966
+v 0.06377080 0.00584818 0.02716084
+v 0.06457978 0.00747696 0.02629736
+v 0.06442865 0.00978296 0.02617611
+v 0.06424196 0.01208896 0.02601094
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+v 0.06539764 0.01208897 0.02451814
+v 0.06581102 0.00584819 0.02518089
+v 0.06465534 0.00584818 0.02635799
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+f 54 63 64
+f 54 64 55
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+f 60 62 70
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_27.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c552e66a8532c40bdf18e6317f475b94fff78a
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_27.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06671961 -0.05864006 -0.01210305
+v 0.06649643 -0.06058112 -0.01075567
+v 0.06665717 -0.06058112 -0.01210305
+v 0.06664920 -0.05864005 -0.01286406
+v 0.06645193 -0.05864006 -0.01064131
+v 0.06631576 -0.06058112 -0.00976801
+v 0.06654757 -0.06058111 -0.01322378
+v 0.06650174 -0.05864005 -0.01437362
+v 0.06627126 -0.05864006 -0.00979712
+v 0.06591324 -0.05864007 -0.00873045
+v 0.06587472 -0.06058113 -0.00878035
+v 0.06635429 -0.06058111 -0.01446719
+v 0.06599826 -0.06058110 -0.01556089
+v 0.06604210 -0.05941373 -0.01560040
+v 0.06606933 -0.05864004 -0.01562327
+v 0.06532806 -0.06058113 -0.00806300
+v 0.06101461 -0.05864008 -0.00411236
+v 0.06488303 -0.06058110 -0.01588526
+v 0.05993393 -0.06010608 -0.02118535
+v 0.05993393 -0.05983341 -0.02330830
+v 0.05993393 -0.05967248 -0.02370544
+v 0.05993393 -0.05908614 -0.02469518
+v 0.06094554 -0.05864001 -0.02421279
+v 0.06084125 -0.05884870 -0.00411236
+v 0.06045733 -0.05931060 -0.00411236
+v 0.06026670 -0.05953081 -0.00411236
+v 0.05993393 -0.05991443 -0.00411236
+v 0.05993393 -0.06058114 -0.00450327
+v 0.05993393 -0.05864008 -0.00411236
+v 0.06362633 -0.06058110 -0.01598507
+v 0.06266454 -0.06058110 -0.01600586
+v 0.05993393 -0.06058110 -0.01545069
+v 0.05993393 -0.05864001 -0.02535432
+f 1 2 3
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+f 1 23 33
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+f 1 29 17
+f 1 17 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 17 25 24
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+f 19 31 32
+f 19 32 28
+f 19 28 27
+f 19 27 29
+f 19 29 33
+f 19 33 22
+f 19 22 21
+f 19 21 20
+f 22 33 23
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_28.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef42c73e162b7197348504794e7e7e2395c9561
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_28.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04440997 -0.04326012 0.00354044
+v 0.04440997 -0.02176907 0.00354052
+v 0.05993241 -0.04326012 0.00354044
+v 0.04440997 -0.04326019 0.02213020
+v 0.05993241 -0.02176907 0.00354052
+v 0.04440997 -0.02176917 0.02888657
+v 0.05993241 -0.04326022 0.02873429
+v 0.05162490 -0.04326021 0.02809310
+v 0.04440997 -0.04137724 0.02651631
+v 0.05993241 -0.02176916 0.02745447
+v 0.04440997 -0.02213314 0.02890403
+v 0.04477315 -0.02176917 0.02891900
+v 0.05993241 -0.04120473 0.02873680
+v 0.05787187 -0.04326022 0.02899626
+v 0.05325844 -0.04326022 0.02877920
+v 0.04440997 -0.04068086 0.02806317
+v 0.05975310 -0.02176916 0.02760666
+v 0.05993241 -0.03404104 0.02848733
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+v 0.04633983 -0.02176917 0.02899634
+v 0.05993241 -0.04096069 0.02873680
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+v 0.05993241 -0.03634690 0.02865449
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+v 0.04440997 -0.03135861 0.02902375
+v 0.04440997 -0.02905277 0.02902126
+v 0.04633983 -0.02712352 0.02902127
+f 1 2 5
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+f 1 24 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
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+f 1 27 26
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+f 52 53 56
+f 52 56 55
+f 52 55 54
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_29.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abbdd6ed057bfd12467339d268c246f716a29b51
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_29.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v -0.04591843 -0.06424057 0.01742318
+v -0.04361210 -0.06423703 0.01969319
+v -0.04591843 -0.06411099 0.01969319
+v -0.04822362 -0.06406127 0.01742318
+v -0.04822362 -0.06416601 0.01515316
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+v -0.04822362 -0.06417662 0.00607052
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+v -0.04129204 -0.06416957 0.01969319
+v -0.04129204 -0.06416779 0.01970609
+v -0.04129204 -0.06385359 0.02196580
+v -0.04130577 -0.06385359 0.02196580
+v -0.04361210 -0.06374707 0.02196580
+v -0.04591843 -0.06351807 0.02196580
+v -0.05052994 -0.06303343 0.02133897
+v -0.04822362 -0.06378434 0.01969320
+v -0.05052994 -0.06337782 0.01969320
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+v -0.05052994 -0.06373461 0.01061056
+v -0.05052994 -0.06371507 0.00834055
+v -0.05052994 -0.06369198 0.00607053
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+v -0.04591843 -0.06400086 0.00268356
+v -0.05052994 -0.06364759 0.00268357
+v -0.04409373 -0.06325704 0.00268357
+v -0.04129204 -0.06089599 0.00268616
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_3.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8637c0924a6409ad50e121506d0fcc127bff7c6e
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_3.obj
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_30.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b442a4f770cd4f6e10de510a49c4a7d4564872c8
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_30.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.05986261 0.01238142 -0.02934637
+v 0.05986261 0.01400200 -0.02927706
+v 0.06084551 0.01238142 -0.02907448
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+v 0.06017858 0.03289749 -0.00211756
+v 0.05986261 0.03471535 -0.00989567
+v 0.05986261 0.01924928 -0.02873594
+v 0.06052370 0.01670297 -0.02877060
+v 0.06251151 0.01238141 -0.02814953
+v 0.06647743 0.03024807 -0.00211757
+v 0.06647743 0.01238140 -0.02333286
+v 0.06248496 0.03314854 -0.00211756
+v 0.05986261 0.03525555 -0.01210276
+v 0.05986261 0.01939274 -0.02871195
+v 0.06003290 0.01911928 -0.02866663
+v 0.06233086 0.01670296 -0.02763507
+v 0.06271418 0.01462064 -0.02769105
+v 0.06382464 0.01238141 -0.02722991
+v 0.06610576 0.03063809 -0.00211757
+v 0.06647743 0.03023914 -0.00983172
+v 0.06640102 0.01238140 -0.02356476
+v 0.06625728 0.01439647 -0.02303964
+v 0.06647743 0.01387421 -0.02261849
+v 0.06363168 0.03268455 -0.00211756
+v 0.05986261 0.03528021 -0.01225203
+v 0.05986261 0.02131815 -0.02836008
+v 0.06017858 0.02131815 -0.02818682
+v 0.06202136 0.01900943 -0.02743247
+v 0.06363492 0.01553964 -0.02685939
+v 0.06379485 0.01400199 -0.02701134
+v 0.06394248 0.01238141 -0.02714728
+v 0.06553791 0.03123208 -0.00211757
+v 0.06647743 0.03015620 -0.01210278
+v 0.06551654 0.03118055 -0.01210278
+v 0.06553208 0.03122538 -0.00983172
+v 0.06553662 0.03123208 -0.00301853
+v 0.06627347 0.01238140 -0.02386597
+v 0.06589662 0.01297091 -0.02449504
+v 0.06574835 0.01439648 -0.02417517
+v 0.06607468 0.01610895 -0.02262114
+v 0.06647743 0.02775785 -0.01569064
+v 0.06438472 0.03237971 -0.00211756
+v 0.05986261 0.03385691 -0.02118434
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+v 0.05986261 0.02399222 -0.02774966
+v 0.06030873 0.02359548 -0.02757106
+v 0.06168272 0.02131815 -0.02717124
+v 0.06348341 0.01670296 -0.02669146
+v 0.06433616 0.01670295 -0.02555593
+v 0.06449803 0.01462064 -0.02595311
+v 0.06518891 0.01238140 -0.02561191
+v 0.06508013 0.01238140 -0.02575319
+v 0.06484120 0.03192693 -0.00211756
+v 0.06647743 0.02971240 -0.01363281
+v 0.06401888 0.03204353 -0.01437383
+v 0.06594583 0.01238140 -0.02458034
+v 0.06543560 0.01238140 -0.02527605
+v 0.06404543 0.01900942 -0.02517741
+v 0.06380521 0.02071294 -0.02484154
+v 0.06555086 0.01680830 -0.02341015
+v 0.06647743 0.02875081 -0.01494427
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+v 0.05986261 0.03352069 -0.02186939
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+v 0.06647743 0.02957791 -0.01390203
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+v 0.06207899 0.02359547 -0.02585177
+v 0.06647743 0.02915876 -0.01454976
+v 0.06113235 0.02894362 -0.02419911
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+v 0.06116472 0.02434189 -0.02668876
+v 0.05986261 0.02709218 -0.02681937
+v 0.05986261 0.02861189 -0.02609165
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+f 28 29 41
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+f 41 45 53
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_31.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a05acb28e45762a90dc3aa5ea46df77e55d5add
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02262448 -0.04610478 0.00268363
+v -0.02262448 -0.06053455 0.00268358
+v -0.02262448 -0.04610472 -0.01251106
+v -0.04741403 -0.04610478 0.00268363
+v -0.02262448 -0.06161357 0.00150857
+v -0.04591649 -0.06400132 0.00268356
+v -0.02262448 -0.05945546 -0.01251111
+v -0.04746454 -0.04610472 -0.01251106
+v -0.05297927 -0.05190945 0.00268361
+v -0.02262448 -0.06276737 0.00019524
+v -0.04822222 -0.06414555 0.00268356
+v -0.02262448 -0.06325347 -0.00094109
+v -0.02262448 -0.06320539 -0.00082805
+v -0.02262448 -0.06292226 -0.00648887
+v -0.04591649 -0.06381074 -0.01251112
+v -0.05297927 -0.05186844 -0.01251108
+v -0.05297927 -0.06298461 0.00268357
+v -0.05052795 -0.06364877 0.00268357
+v -0.05052795 -0.06372172 -0.01210062
+v -0.05052795 -0.06372349 -0.01251112
+v -0.04822222 -0.06419357 -0.01210063
+v -0.04591649 -0.06429331 -0.00301743
+v -0.04591649 -0.06425415 -0.00074625
+v -0.02262448 -0.06365587 -0.00301742
+v -0.02262448 -0.06332467 -0.00528710
+v -0.04822222 -0.06419178 -0.01251113
+v -0.05297927 -0.06308783 -0.01251112
+v -0.05252763 -0.06311459 0.00268357
+v -0.05271185 -0.06315728 -0.01210062
+v -0.05272077 -0.06315727 -0.01251112
+v -0.05093501 -0.06362200 -0.01251112
+v -0.04863820 -0.06410810 -0.01251113
+v -0.04591649 -0.06426481 -0.00528711
+v -0.02262448 -0.06335850 -0.00506251
+f 1 2 5
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+f 1 13 12
+f 1 12 24
+f 1 24 34
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+f 1 25 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
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+f 1 17 28
+f 1 28 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
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+f 22 33 24
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+f 24 26 34
+f 25 34 26
+f 27 30 29
+f 27 29 28
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_32.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217473b8860ded310dbdc838fc3651d64c0908c4
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_32.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04440997 -0.06011150 0.00353789
+v 0.05173735 -0.06310794 0.00353788
+v 0.05167961 -0.06316544 0.01515272
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+v 0.04440997 -0.04761647 0.00353794
+v 0.05301683 -0.06343554 0.00353788
+v 0.05168417 -0.06316544 0.01515955
+v 0.05167353 -0.06316078 0.01515955
+v 0.05325844 -0.06344645 0.01515955
+v 0.04440997 -0.04761652 0.01515961
+v 0.05993241 -0.04761647 0.00353794
+v 0.05325844 -0.06347590 0.00353788
+v 0.05503635 -0.06327873 0.00353788
+v 0.05525668 -0.06324148 0.00833967
+v 0.05521869 -0.06323218 0.01061031
+v 0.05513816 -0.06320890 0.01288094
+v 0.05499076 -0.06315457 0.01515272
+v 0.05498924 -0.06315302 0.01515955
+v 0.05993241 -0.04761652 0.01515961
+v 0.05993241 -0.05988793 0.00353789
+v 0.05526580 -0.06324458 0.00606903
+v 0.05526428 -0.06323991 0.00353788
+v 0.05993241 -0.06195753 0.01060689
+v 0.05993241 -0.06190630 0.01282975
+v 0.05993241 -0.06190475 0.01288094
+v 0.05993241 -0.06150263 0.01483419
+v 0.05993241 -0.06113624 0.01515956
+v 0.05993241 -0.06145913 0.00581534
+v 0.05919997 -0.06072166 0.00353789
+v 0.05539649 -0.06318091 0.00353788
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+v 0.05993241 -0.06190783 0.00821794
+v 0.05904802 -0.06083655 0.00353789
+v 0.05641764 -0.06272136 0.00353788
+v 0.05787187 -0.06172461 0.00353788
+f 1 2 3
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+f 30 34 31
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_33.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375f6e0ca9a95c2b47c8059655e9f665c32e1de7
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_33.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.05986261 0.01238132 -0.00211763
+v 0.05986261 0.03280384 -0.00211756
+v 0.06271871 0.01238132 -0.00211763
+v 0.05986261 0.01238121 0.02858104
+v 0.05995779 0.03283279 -0.00211756
+v 0.05986261 0.03513333 0.01051229
+v 0.06647743 0.01851253 -0.00211761
+v 0.06647743 0.01238128 0.00886550
+v 0.06017858 0.01238121 0.02852394
+v 0.05986261 0.01439674 0.02845483
+v 0.06017858 0.03289737 -0.00211756
+v 0.06248496 0.03314904 -0.00211756
+v 0.05986261 0.03512443 0.01083683
+v 0.06437371 0.03237395 0.01061145
+v 0.06438019 0.03238287 0.00833970
+v 0.06438601 0.03238289 0.00379920
+v 0.06438601 0.03238068 -0.00074430
+v 0.06438472 0.03238069 -0.00211756
+v 0.06647743 0.03024712 -0.00211757
+v 0.06647743 0.01238123 0.02227964
+v 0.06017858 0.01439674 0.02838572
+v 0.06178243 0.01238121 0.02790793
+v 0.05986261 0.01889103 0.02804617
+v 0.05986261 0.03499970 0.01280207
+v 0.06429148 0.03229822 0.01288320
+v 0.06552690 0.03121809 0.01061144
+v 0.06553338 0.03122478 0.00833969
+v 0.06553662 0.03122925 0.00607094
+v 0.06553921 0.03123371 0.00379919
+v 0.06554050 0.03123594 0.00152744
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+v 0.06553921 0.03123595 -0.00074431
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+v 0.06647743 0.02583739 0.01622168
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+v 0.06647743 0.03025156 0.00379919
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+v 0.06274720 0.01439674 0.02692530
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+v 0.05986261 0.02131634 0.02763751
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+v 0.06382269 0.02131635 0.02341855
+v 0.06344909 0.01901130 0.02510131
+v 0.06362197 0.01779753 0.02535072
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_34.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4412a1fc7a089897d7f7889c0ffd4418c8204e08
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_34.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_35.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c03a41fe243d8e8ea1b8569a2e6ecf3536a4b13
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_35.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_36.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b090087011d63c19dda984a0d527399f840df6e
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_36.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_37.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49eb94285cbe3faeb418be668245227819a609d9
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_38.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf74d1b71f8bd03abf281e6d752a3e402c15cd8d
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_38.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_39.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2270a72344897e6aeb092bfcab13acb32aa3326
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_39.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.06647743 0.01683974 -0.01707873
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+v 0.06647743 0.03025152 0.00379499
+v 0.06647743 0.03024099 0.00833943
+v 0.06647743 0.03023968 0.00866837
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
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+f 1 34 59
+f 1 59 39
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+f 1 35 16
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+f 1 11 8
+f 1 8 2
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_4.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e106e9a93b90e56a7c1a6d784a1b37ee309e8999
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_4.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05993464 -0.04465698 0.00386841
+v 0.05993464 -0.02177131 0.00386849
+v 0.06278677 -0.04465698 0.00386841
+v 0.05993464 -0.04465708 0.02872320
+v 0.06582429 -0.02177131 0.00386849
+v 0.05993464 -0.02177140 0.02745498
+v 0.06677356 -0.03403973 0.00386844
+v 0.06626264 -0.04465704 0.02025407
+v 0.06017897 -0.04465708 0.02868912
+v 0.05993464 -0.04351224 0.02873538
+v 0.06574381 -0.02177132 0.00606915
+v 0.06716161 -0.03173663 0.01061162
+v 0.06721406 -0.03173662 0.00834037
+v 0.06724999 -0.03173661 0.00606911
+v 0.06727515 -0.03173660 0.00386845
+v 0.05993464 -0.03403982 0.02848954
+v 0.06017897 -0.03403982 0.02843841
+v 0.06191726 -0.03634743 0.02797832
+v 0.06307061 -0.03634743 0.02722367
+v 0.06053827 -0.02177140 0.02694864
+v 0.06634958 -0.04465705 0.02196543
+v 0.06017897 -0.04326579 0.02870373
+v 0.06092056 -0.04465707 0.02842621
+v 0.05993464 -0.04096042 0.02873539
+v 0.06017897 -0.04096042 0.02870617
+v 0.06563889 -0.02177133 0.00834041
+v 0.06705669 -0.03173664 0.01288288
+v 0.06687632 -0.03403978 0.01742295
+v 0.06642001 -0.04326576 0.02196543
+v 0.05993464 -0.03634744 0.02865507
+v 0.06017897 -0.03634744 0.02861855
+v 0.06317768 -0.03865280 0.02731373
+v 0.06202433 -0.03865280 0.02802943
+v 0.06427930 -0.03634743 0.02608682
+v 0.06409534 -0.03403982 0.02588234
+v 0.06091697 -0.02177140 0.02658592
+v 0.06617281 -0.04465705 0.02274199
+v 0.06204517 -0.04326578 0.02803915
+v 0.06205380 -0.04096041 0.02804159
+v 0.06201787 -0.04465707 0.02802698
+v 0.05993464 -0.03889701 0.02872079
+v 0.06017897 -0.03865281 0.02868671
+v 0.06548655 -0.02177134 0.01061166
+v 0.06691153 -0.03173665 0.01515413
+v 0.06674697 -0.03403979 0.01969420
+v 0.06648900 -0.04096039 0.02196544
+v 0.06606359 -0.04326577 0.02337735
+v 0.05993464 -0.03865281 0.02871835
+v 0.06320715 -0.04096041 0.02733563
+v 0.06435978 -0.03865280 0.02617688
+v 0.06551314 -0.03865279 0.02454586
+v 0.06543265 -0.03634742 0.02444607
+v 0.06533492 -0.03410926 0.02406387
+v 0.06170527 -0.02177139 0.02581422
+v 0.06603125 -0.04465706 0.02330189
+v 0.06319852 -0.04326578 0.02732588
+v 0.06247633 -0.04465707 0.02774216
+v 0.06530043 -0.02177135 0.01285127
+v 0.06668948 -0.03173665 0.01742296
+v 0.06628060 -0.03165152 0.01970151
+v 0.06610742 -0.03236398 0.02133740
+v 0.06622168 -0.03410925 0.02204336
+v 0.06644229 -0.03634741 0.02196546
+v 0.06650265 -0.03865278 0.02196545
+v 0.06608802 -0.04096040 0.02342849
+v 0.06551026 -0.04326577 0.02451176
+v 0.06548152 -0.04465706 0.02443873
+v 0.06570213 -0.04465706 0.02398594
+v 0.06437559 -0.04096041 0.02620122
+v 0.06552894 -0.04096040 0.02456533
+v 0.06608155 -0.03865279 0.02341145
+v 0.06603987 -0.03634742 0.02330922
+v 0.06598741 -0.03492477 0.02318994
+v 0.06271706 -0.02177139 0.02420025
+v 0.06209619 -0.02177139 0.02521781
+v 0.06317122 -0.04465707 0.02730154
+v 0.06435691 -0.04326578 0.02618904
+v 0.06513803 -0.02177135 0.01444821
+v 0.06505970 -0.02177136 0.01515417
+v 0.06484268 -0.02177136 0.01669512
+v 0.06473992 -0.02177136 0.01742300
+v 0.06430948 -0.02177137 0.01969425
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+v 0.06478735 -0.04465706 0.02549768
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+v 0.06432816 -0.04465707 0.02616469
+v 0.06358873 -0.02177138 0.02227224
+v 0.06346800 -0.02177138 0.02259601
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+f 69 77 70
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+f 84 89 85
+f 85 90 87
+f 85 89 90
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_40.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0020465d89f0862005e425fc99fe2924bddcad
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_40.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.06676716 -0.05864015 0.01287896
+v 0.06653706 -0.05864015 0.01419253
+v 0.06668421 -0.06058121 0.01287896
+v 0.06650027 -0.06058120 0.01060929
+v 0.06648823 -0.05864014 0.01060929
+v 0.06634041 -0.06058121 0.01479399
+v 0.06639660 -0.05864015 0.01489613
+v 0.06615647 -0.06058119 0.00890987
+v 0.06611834 -0.05864013 0.00924749
+v 0.06514914 -0.06058122 0.01592883
+v 0.06126298 -0.05864019 0.02314638
+v 0.06092720 -0.05864019 0.02367408
+v 0.06037806 -0.05864019 0.02435214
+v 0.05993459 -0.05864019 0.02487133
+v 0.05993459 -0.05884919 0.02457627
+v 0.06015800 -0.05896832 0.02414787
+v 0.05993459 -0.05912983 0.02415922
+v 0.05993459 -0.05927062 0.02392942
+v 0.05993459 -0.05999965 0.02224703
+v 0.05993459 -0.06058118 0.00465424
+v 0.05993459 -0.05991443 -0.00411236
+v 0.06026702 -0.05953081 -0.00411236
+v 0.06045765 -0.05931060 -0.00411236
+v 0.06101483 -0.05864008 -0.00411236
+v 0.06456589 -0.06058122 0.01617282
+v 0.05993459 -0.06005076 0.02202857
+v 0.05993459 -0.05864008 -0.00411236
+v 0.05993459 -0.06058122 0.01564796
+v 0.06399600 -0.06058122 0.01636858
+v 0.06307964 -0.06058122 0.01649625
+f 1 2 3
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+f 1 4 5
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+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
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+f 15 17 16
+f 21 27 24
+f 21 24 23
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+f 25 26 29
+f 26 28 30
+f 26 30 29
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_41.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d011cdb47a74929bb62154102b7e5efa2dd0910f
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_41.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02326410 0.00633877 -0.00068599
+v 0.02326410 0.01238067 -0.00068596
+v 0.02326801 0.00584828 -0.00068599
+v 0.02326410 0.00598958 0.00764567
+v 0.02326410 0.01238064 0.00764570
+v 0.06271574 0.01238067 -0.00068596
+v 0.02326801 0.00584825 0.00764567
+v 0.06261802 0.00584828 -0.00068599
+v 0.06319261 0.01238064 0.00764570
+v 0.06271574 0.01237364 -0.00068596
+v 0.06308316 0.00584825 0.00764567
+f 1 2 6
+f 1 6 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 4
+f 3 8 11
+f 3 11 7
+f 4 7 11
+f 4 11 9
+f 4 9 5
+f 6 9 10
+f 8 10 9
+f 8 9 11
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_42.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c77afd797f2bfe957d15f1b73d208ba962bc95
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_42.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.04638841 -0.04342076 -0.01548146
+v 0.04638841 -0.05972566 -0.01548152
+v 0.04638841 -0.04342074 -0.02091285
+v 0.01909503 -0.04342076 -0.01548146
+v 0.04633765 -0.05972566 -0.01548152
+v 0.04638841 -0.06325697 -0.01941835
+v 0.04638841 -0.04939648 -0.02801000
+v 0.04254927 -0.04342072 -0.02810461
+v 0.01909503 -0.04342071 -0.02948507
+v 0.01909503 -0.05971578 -0.01548152
+v 0.04172641 -0.06328661 -0.01945870
+v 0.04638841 -0.06327673 -0.01944200
+v 0.04638841 -0.05072640 -0.02940578
+v 0.04251454 -0.04342072 -0.02816723
+v 0.01909503 -0.04370132 -0.02950733
+v 0.02558174 -0.04342071 -0.02967711
+v 0.01909503 -0.06326092 -0.01947540
+v 0.04172641 -0.06360673 -0.02118706
+v 0.04638841 -0.06358302 -0.02118706
+v 0.04638841 -0.05249502 -0.02968270
+v 0.04127491 -0.04342071 -0.02940853
+v 0.01909503 -0.04557467 -0.02964511
+v 0.02789003 -0.04342071 -0.02968406
+v 0.02097051 -0.04557467 -0.02967851
+v 0.01909503 -0.06347235 -0.02086700
+v 0.04172641 -0.06319174 -0.02329950
+v 0.04403203 -0.06318580 -0.02328141
+v 0.01909503 -0.06351978 -0.02118706
+v 0.04638841 -0.06318778 -0.02320766
+v 0.04638841 -0.05479916 -0.02963540
+v 0.04403203 -0.05249502 -0.02968827
+v 0.03941812 -0.04342071 -0.02968406
+v 0.01909503 -0.04788079 -0.02968547
+v 0.03250127 -0.04342071 -0.02968963
+v 0.01909503 -0.04831356 -0.02968687
+v 0.04172641 -0.06281430 -0.02443504
+v 0.01909503 -0.06313246 -0.02311303
+v 0.04403203 -0.06280837 -0.02441695
+v 0.04633765 -0.06317790 -0.02325219
+v 0.04638841 -0.06317790 -0.02325079
+v 0.04638841 -0.05674564 -0.02935848
+v 0.04172641 -0.05479916 -0.02964097
+v 0.03941812 -0.05249502 -0.02969662
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+v 0.03941812 -0.05018890 -0.02969382
+v 0.03711250 -0.04788079 -0.02969382
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+v 0.03250127 -0.05018890 -0.02969522
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+v 0.02558174 -0.05249502 -0.02969383
+v 0.04172641 -0.06195074 -0.02572783
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+v 0.04638841 -0.06192505 -0.02572783
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+v 0.01909503 -0.06203373 -0.02544951
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+v 0.04638841 -0.06279651 -0.02438773
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_43.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc0ed658ec25a97cdf8a3dd896606075a9a2f84
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_43.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_44.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d2d011ada2e04c66a0dd12908b803a4dee40381
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_44.obj
@@ -0,0 +1,1306 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_45.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c34c7b7c6b5a39d34cd3d15a15df2fb87d6f19
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_45.obj
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_46.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb445e1de722e20700d74d09a601ba962de541d
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02262449 -0.04610628 0.01515148
+v -0.02262449 -0.05947199 0.01515143
+v -0.02262449 -0.04610623 0.00268485
+v -0.04129022 -0.04610628 0.01515148
+v -0.02262449 -0.06053471 0.00268480
+v -0.04129022 -0.05968628 0.01515143
+v -0.04129022 -0.06089669 0.00268480
+v -0.04129022 -0.04610623 0.00268485
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_47.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beafdfa09262c20bcebdeae2a0fced5f350203be
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04440997 -0.04761646 0.00353996
+v 0.04440997 -0.04326264 0.00353997
+v 0.04861635 -0.04761646 0.00353996
+v 0.04440997 -0.04761654 0.02423059
+v 0.04861635 -0.04326264 0.00353997
+v 0.04440997 -0.04326271 0.02213014
+v 0.04861635 -0.04761653 0.02247042
+v 0.04861635 -0.04326271 0.02139286
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_48.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1ccfe90ea064cf51082fec3671f99d5e79a0d8
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_48.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05993282 -0.04326274 0.02873443
+v 0.05787115 -0.04326274 0.02899635
+v 0.05993282 -0.04351251 0.02873443
+v 0.05993282 -0.04326264 0.00354044
+v 0.05556465 -0.04326274 0.02901880
+v 0.05556465 -0.04326786 0.02902129
+v 0.05787115 -0.04326786 0.02899635
+v 0.05993282 -0.04557412 0.02871446
+v 0.05787115 -0.04557412 0.02899384
+v 0.05813592 -0.04761656 0.02894395
+v 0.05993282 -0.04761646 0.00354043
+v 0.04861635 -0.04326264 0.00354044
+v 0.05325926 -0.04326274 0.02877933
+v 0.05352403 -0.04761656 0.02894146
+v 0.05556465 -0.04761656 0.02901879
+v 0.05582942 -0.04761656 0.02901629
+v 0.05993282 -0.04581877 0.02871197
+v 0.05787115 -0.04761656 0.02897887
+v 0.05993282 -0.04761656 0.02866208
+v 0.04861635 -0.04761646 0.00354043
+v 0.04861635 -0.04326271 0.02139325
+v 0.05325926 -0.04761656 0.02891152
+v 0.05162410 -0.04326273 0.02809335
+v 0.05126738 -0.04761655 0.02832782
+v 0.04861635 -0.04761653 0.02247084
+v 0.04991916 -0.04761655 0.02650687
+v 0.05007979 -0.04761655 0.02679124
+v 0.05105136 -0.04761655 0.02823553
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 21
+f 1 21 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 20
+f 4 20 12
+f 5 13 6
+f 6 13 14
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+f 7 16 9
+f 8 10 17
+f 9 18 10
+f 9 16 18
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+f 10 20 11
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+f 10 19 17
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+f 13 22 14
+f 13 23 24
+f 13 24 22
+f 21 25 26
+f 21 26 23
+f 23 26 27
+f 23 27 28
+f 23 28 24
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_49.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0efd999bddd44e2b1f0d4ea1527be26c3d545e3f
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_49.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.06647743 0.01238128 0.00886493
+v 0.06647743 0.01683834 0.00825101
+v 0.06688803 0.01238128 0.00897755
+v 0.06647743 0.01238123 0.02228222
+v 0.06709770 0.01683834 0.00845565
+v 0.06725967 0.01238128 0.00908194
+v 0.06647743 0.01683830 0.01944742
+v 0.06660043 0.01238123 0.02196907
+v 0.06888987 0.01683831 0.01514576
+v 0.06837109 0.01683831 0.01626787
+v 0.06647743 0.01302082 0.02197594
+v 0.06845484 0.01683834 0.00900778
+v 0.06831729 0.01269977 0.00941157
+v 0.06785406 0.01238128 0.00927834
+v 0.06647743 0.01431833 0.02112852
+v 0.06735040 0.01238124 0.01939934
+v 0.06893582 0.01683831 0.01500429
+v 0.06863193 0.01683834 0.00908332
+v 0.06840948 0.01238127 0.00987991
+v 0.06919579 0.01683833 0.01047051
+v 0.06842169 0.01238126 0.01421729
+v 0.06944820 0.01683832 0.01288230
+v 0.06923650 0.01683833 0.01061198
+v 0.06857610 0.01238127 0.01047462
+v 0.06867352 0.01238126 0.01288229
+v 0.06943831 0.01683832 0.01273397
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 19
+f 1 19 24
+f 1 24 25
+f 1 25 21
+f 1 21 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 10
+f 2 10 9
+f 2 9 17
+f 2 17 22
+f 2 22 26
+f 2 26 23
+f 2 23 20
+f 2 20 18
+f 2 18 12
+f 2 12 5
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 10
+f 8 16 17
+f 8 17 9
+f 10 15 11
+f 12 18 13
+f 13 19 14
+f 13 18 20
+f 13 20 19
+f 16 21 22
+f 16 22 17
+f 19 20 23
+f 19 23 24
+f 21 25 22
+f 22 25 24
+f 22 24 26
+f 23 26 24
+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_5.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3272736cac384f648df424082b0fc244cac880
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_5.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01635590 0.03232070 0.02904499
+v 0.01635590 0.03124897 0.03171869
+v 0.01751666 0.03216704 0.02904499
+v -0.01823902 0.03231681 0.02904499
+v -0.01823902 0.03124702 0.03171869
+v 0.01849592 0.03032701 0.03171869
+v 0.01949629 0.03135595 0.02904499
+v -0.02064919 0.03148238 0.02904499
+v -0.01882996 0.03099611 0.03171869
+v 0.01949207 0.02823413 0.03171868
+v 0.02044600 0.02957234 0.02904498
+v -0.02150182 0.03063045 0.02904498
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_50.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca6c65fffd9a5804d2dbbc97d78283ad9feeef8
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_50.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.06647743 0.01238140 -0.02333551
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_51.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f589eb04c379e991a81412cc243095dc2061b4ef
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_51.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_52.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e8390244294f1b5bf25cf01b956ec22c4494a3
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_52.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_53.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af0de3b99f1261b1d668e6805a4334bdba866b3
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_53.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.02262449 -0.04610488 0.02901570
+v -0.02262449 -0.04610483 0.01515148
+v -0.02285472 -0.04610488 0.02901978
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+v -0.04129022 -0.05968603 0.01515143
+v -0.04129022 -0.04610488 0.02903066
+v -0.02262449 -0.05249583 0.02904424
+v -0.02799854 -0.04610488 0.02904154
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+v -0.02262449 -0.06349338 0.01969666
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_54.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c23ef7034a5265980cbf9f03bd7e9e43ad4a6f8
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_54.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.05206357 0.03765773 0.00680027
+v 0.05986261 0.03308541 0.00680025
+v 0.05186295 0.03765777 -0.00530158
+v 0.02326410 0.03765773 0.00680027
+v 0.05986261 0.01238129 0.00680018
+v 0.05986261 0.03281823 -0.00530160
+v 0.02326410 0.03765777 -0.00530158
+v 0.02326410 0.01238129 0.00680018
+v 0.05986261 0.01238133 -0.00530167
+v 0.02326410 0.01238133 -0.00530167
+f 1 2 3
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_55.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf54cc3a47368a061629c030303211eeabdb65b7
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_55.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.05814660 0.03765771 0.01051804
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_6.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bf1600e24ac965c8cba520b19c50113355cbf6
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_7.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd64a0582a7f3eb18023773cc90d1d7d1b0e068a
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_7.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.05993393 -0.04465686 -0.02938978
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+v 0.06007790 -0.04326557 -0.02938001
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+
diff --git a/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_8.obj b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109d6d24becef9192d33893de925e15e4f2ae990
--- /dev/null
+++ b/dataset/tools/repair_tools/f24b118c69e15dbf9ef1049d4971b288/mjcf/mesh/measuring_tape_040_collision_8.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.01635377 0.03124986 0.03171938
+v 0.01635377 0.03108240 0.03332384
+v 0.01843109 0.03024141 0.03332384
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