diff --git a/.gitattributes b/.gitattributes
index 58fdbd506de2301ff334c729f476f8e97a45b084..c3611b40d1b9fb1231fa0315bbb2abea3e211f4e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5145,7 +5145,5 @@ dataset/tools/repair_tools/bc6b1d236c0b5692b4a38689053f26d4/glue_gun_024.usd fil
 dataset/tools/repair_tools/bc6b1d236c0b5692b4a38689053f26d4/mesh/glue_gun_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/mesh/wrench_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/bdf6ee700f7853f2aecea8a5552ad424/wrench_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/glue_gun_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/bf2bafd5a21f592195383436ab91d1a9/mesh/glue_gun_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/mesh/screwdriver_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/c13e15c7e0465ff3a943b12512afc281/screwdriver_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.urdf b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..28ec37542a61402a025cb07530c0f9496a4aaa5b
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_018">
+   <link name="measuring_tape_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>bf94f572dd4058a4a0bbe929984b6244</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>blue tape measure</name>
+         <color>black,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact black and blue retractable measuring tape with metal belt clip</description>
+         <min_height>0.0662</min_height>
+         <max_height>0.0662</max_height>
+         <real_height>0.0662</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205545</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070751 -0.057134 -0.029910</min>
+            <max>0.069249 0.060990 0.036260</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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":"Tape blade opening, lock/button, and housing are not functionally segmented; red is fragmented and many missing parts cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.usd b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a5f02f5d334ad35f13a2499a87d6a340915f30af
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/measuring_tape_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5677d987b1ca9b579119a09a32b23a5f9095f6baf09a9c86475fd46110e5d994
+size 5012431
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material.mtl b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d6bc1a55ded2ce284dbdb0c1ecb12d185fc02
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material_0.png b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ab4cd439d4978d245679e9db9562fb804b00209
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a8b9ebdc821911614c3a40c80bdfb002b5b6f96efe926018fe3c59a3bc0f35
+size 12007004
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.glb b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4ad60a6c1bc24085d7a6ae698c3515b8625f897f
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0bd9bc5e6321c2e15bd4785043db223d924056fbe9ea365ba02f9d0aefe51f
+size 15502504
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.mtl b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83174c1d971a29705115cfb8195e7240a809309d
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_018_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/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18041c2cb217489f4f85e693bf6476bdd5b1f67
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018.obj
@@ -0,0 +1,125580 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_018_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018_collision.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ce8aa6bfc54b1b6566a4f0daf1aa161df5f616
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mesh/measuring_tape_018_collision.obj
@@ -0,0 +1,11968 @@
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/material_0.png
new file mode 100644
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+size 12007004
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25b46382e3097ac2bb138fa1176b4cd77ce696a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_018_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c08044ddfab220acdb66ba9c96d819d9fb120b
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision.obj
@@ -0,0 +1,11968 @@
+# https://github.com/mikedh/trimesh
+
+o measuring_tape_018_collision.obj
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_0.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8879e8f069b440a620ed803a4abf537a14f0d86f
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_0.obj
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_1.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab355f34a24a2fb95866a28f18f500c2aef707c8
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_1.obj
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_10.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e625a630de6d8739d693340263efeb1d092b74c2
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_10.obj
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_11.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aacde0d5b41ff8b2ef89543927a32406b71f67ff
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.06417770 -0.04746034 -0.01171813
+v -0.06417770 -0.04745730 -0.01171498
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_12.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95fd3d33e00b2139e9aa1fd3022226e49021f511
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_12.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.01601098 0.02856050 -0.02910353
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_13.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed039ef17a3dfcea8a0bac15fc6e5687c8218042
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_13.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
+v -0.01601586 -0.02961906 0.02841004
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+v -0.01621116 -0.02961906 0.02845620
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_14.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7974e4032f381347b77adedcde91ec8172dd42ba
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_14.obj
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_15.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f428fdb636d2e01bf4d15cf81f8370ab19bcba3a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_16.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e96f42fc96bd1a5e44736a71c76d3257dac22e2
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_16.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+v -0.01601098 -0.05632250 0.00438602
+v -0.01601098 -0.05623590 0.01312577
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 11
+f 2 11 14
+f 2 14 20
+f 2 20 16
+f 2 16 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 14
+f 6 14 11
+f 8 12 13
+f 8 13 9
+f 10 15 21
+f 10 21 20
+f 10 20 14
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 15 19 21
+f 16 20 17
+f 17 20 18
+f 18 20 19
+f 19 20 21
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_17.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0531ecd2922b84f5a5687aae5acb108f33baf233
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_17.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.05295694 0.01911365 0.02581157
+v -0.05150282 0.01911364 0.02801236
+v -0.05289628 0.02140682 0.02581158
+v -0.05288786 0.00074926 0.02581150
+v -0.05156180 -0.00438898 0.02805763
+v -0.05155337 0.00074925 0.02805279
+v -0.05155000 0.00304717 0.02804996
+v -0.05154158 0.00763827 0.02804188
+v -0.05153652 0.00993144 0.02803744
+v -0.05152473 0.01452254 0.02802773
+v -0.05151630 0.01682047 0.02802329
+v -0.05034694 0.01911363 0.02878456
+v -0.05028122 0.02140680 0.02874813
+v -0.05143711 0.02140681 0.02790183
+v -0.05038064 0.00993143 0.02886957
+v -0.05037390 0.01222936 0.02885337
+v -0.05036716 0.01452253 0.02883394
+v -0.05036042 0.01682046 0.02880966
+v -0.05237058 0.02337172 0.02581159
+v -0.05287606 -0.00154391 0.02581149
+v -0.05285079 -0.00384184 0.02581149
+v -0.05283731 -0.00438897 0.02581148
+v -0.05040591 -0.00438899 0.02895616
+v -0.05039748 0.00074924 0.02892581
+v -0.05038569 0.00763826 0.02888495
+v -0.04814638 0.01911363 0.02948509
+v -0.04814638 0.00993143 0.02964784
+v -0.04814638 0.01222936 0.02961666
+v -0.04814638 0.01452253 0.02957901
+v -0.04814638 0.01682046 0.02953408
+v -0.04814638 0.02140680 0.02941343
+v -0.04814638 0.02369997 0.02919194
+v -0.04993918 0.02369998 0.02858455
+v -0.04814638 -0.00438899 0.02981178
+v -0.04814638 0.00074924 0.02975713
+v -0.04814638 0.00304716 0.02973123
+v -0.04814638 0.00534033 0.02970411
+v -0.04814638 0.00763826 0.02967658
+v -0.04953478 0.02513678 0.02835495
+v -0.04973193 0.02758221 0.02581160
+v -0.03574506 -0.00438897 0.02581148
+v -0.04583293 0.01911363 0.02965719
+v -0.04583293 0.02140680 0.02959079
+v -0.04583293 0.00993143 0.02980496
+v -0.04583293 0.01222936 0.02977418
+v -0.04583293 0.01452253 0.02974058
+v -0.04583293 0.01682046 0.02970212
+v -0.04583293 0.02599790 0.02928225
+v -0.04583293 0.02369997 0.02948268
+v -0.03574506 0.03601268 0.02961108
+v -0.03574506 0.03831061 0.02928877
+v -0.03889762 0.03518010 0.02913489
+v -0.04813121 0.02594081 0.02866271
+v -0.04638391 -0.00438899 0.02991706
+v -0.04583293 0.00074924 0.02990291
+v -0.04583293 0.00304716 0.02988105
+v -0.04583293 0.00534033 0.02985798
+v -0.04583293 0.00763826 0.02983289
+v -0.04735108 0.02757744 0.02842704
+v -0.04010743 0.03638854 0.02822218
+v -0.04230799 0.03396692 0.02810636
+v -0.04774536 0.03020841 0.02581161
+v -0.03574506 -0.00438898 0.02676023
+v -0.03574506 0.04421483 0.02581166
+v -0.03574506 0.03371951 0.02973296
+v -0.03574506 0.04042299 0.02864535
+v -0.04588853 0.02832437 0.02874370
+v -0.04583293 -0.00438899 0.02994784
+v -0.04583293 -0.00154393 0.02992355
+v -0.04515389 0.03000382 0.02847402
+v -0.03788833 0.03879114 0.02829669
+v -0.03614440 0.04387704 0.02581166
+v -0.03825060 0.04142687 0.02581165
+v -0.03574506 -0.00438422 0.02800175
+v -0.03574675 -0.00438898 0.02800215
+v -0.03574506 0.04113189 0.02831250
+v -0.03574506 0.03142634 0.02975037
+v -0.03574506 0.04102722 0.02838336
+v -0.03875440 0.03728298 0.02851697
+v -0.03889762 -0.00438899 0.02905416
+v -0.03690263 -0.00438899 0.02861238
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+f 1 40 62
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+f 43 65 49
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+f 74 81 75
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+f 77 80 81
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_18.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e4c72eece5e5492671cf1a3b5d8dd045b076fba
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_18.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.06112412 -0.00828242 0.00438532
+v -0.06616051 -0.00828245 0.01388548
+v -0.06611564 -0.00438893 0.01398573
+v -0.06036617 -0.00438890 0.00438533
+v -0.01601596 -0.00828242 0.00438532
+v -0.06621038 -0.00828245 0.01399574
+v -0.06691847 -0.00438894 0.01563967
+v -0.06673397 -0.00438894 0.01524373
+v -0.01601596 -0.00438890 0.00438533
+v -0.01601596 -0.00828250 0.02791394
+v -0.06689852 -0.00828246 0.01563966
+v -0.06695337 -0.00438894 0.01737381
+v -0.01601596 -0.00438898 0.02806932
+v -0.04583043 -0.00828251 0.02998638
+v -0.06689852 -0.00828246 0.01579002
+v -0.06694839 -0.00438895 0.01791761
+v -0.04583043 -0.00438899 0.02994629
+v -0.04814418 -0.00828251 0.02986860
+v -0.06679879 -0.00828247 0.01791760
+v -0.06689354 -0.00613791 0.01791761
+v -0.06645472 -0.00438895 0.01965425
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+v -0.04814418 -0.00438899 0.02981097
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+v -0.05066238 -0.00828251 0.02891131
+v -0.06675391 -0.00828247 0.01806795
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+v -0.06244555 -0.00613793 0.02329543
+v -0.06231590 -0.00828249 0.02323027
+v -0.06620041 -0.00613791 0.02019804
+v -0.06598100 -0.00828247 0.02038097
+v -0.06557709 -0.00613792 0.02142347
+v -0.06562695 -0.00438896 0.02147359
+v -0.06433046 -0.00438896 0.02233063
+v -0.06433046 -0.00613792 0.02224292
+v -0.06451995 -0.00828248 0.02197728
+v -0.06552224 -0.00768984 0.02137083
+v -0.06586631 -0.00828248 0.02060651
+v -0.06474933 -0.00828248 0.02182943
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 18
+f 1 18 26
+f 1 26 31
+f 1 31 38
+f 1 38 41
+f 1 41 40
+f 1 40 33
+f 1 33 27
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+f 1 15 11
+f 1 11 6
+f 1 6 2
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+f 3 17 13
+f 3 13 9
+f 3 9 4
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+f 5 13 10
+f 6 11 7
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+f 10 13 14
+f 11 15 12
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+f 15 20 16
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+f 18 22 23
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+f 28 34 35
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+f 32 39 34
+f 33 40 39
+f 34 39 37
+f 34 37 36
+f 34 36 35
+f 37 39 41
+f 37 41 38
+f 39 40 41
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_19.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ddff9b36b134baf260e03d54ad4e2b5363c7852
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05808288 0.02856366 -0.01160815
+v -0.05585903 0.02856361 0.00226319
+v -0.04871389 0.03860336 0.00226323
+v -0.05054650 0.03860341 -0.01160811
+v -0.01601097 0.02856366 -0.01160815
+v -0.01601097 0.02856361 0.00226319
+v -0.01601097 0.03860336 0.00226323
+v -0.01601097 0.03860341 -0.01160811
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_2.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3aa88ae68bf88005f732754b1c3c3a641db493a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_2.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.01899012 -0.01761655 0.02864771
+v 0.01600941 -0.01990942 0.03326162
+v 0.01899012 -0.02622159 0.02761881
+v 0.01899012 -0.01150034 0.02773390
+v 0.01578329 -0.01832272 0.03299961
+v 0.01428265 -0.01990943 0.03408599
+v 0.01300814 -0.02220516 0.03495508
+v 0.01585523 -0.02171084 0.03317214
+v 0.01428265 -0.02622159 0.02775940
+v 0.01899012 -0.02622138 -0.02910292
+v 0.01442655 -0.02236800 0.03386231
+v 0.01374818 -0.02363332 0.03342136
+v 0.01145269 -0.02354687 0.03514678
+v 0.00410712 -0.02569128 0.03508288
+v 0.00272297 -0.02580081 0.03525542
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+v 0.00041378 -0.02621297 0.03387507
+v 0.01899012 -0.01150013 -0.02911564
+v 0.01582440 -0.01150035 0.03075659
+v 0.01156232 -0.02089516 0.03510845
+v 0.01185354 -0.02220516 0.03517874
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+v 0.01896957 -0.02622138 -0.02910930
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+v 0.00966084 -0.02220516 0.03545992
+v 0.00272297 -0.02450090 0.03600310
+v 0.00041378 -0.02450090 0.03607979
+v 0.00041378 -0.02583251 0.03531293
+v -0.00081962 -0.02622159 0.02796389
+v 0.00272297 -0.02622159 0.02796389
+v 0.00503559 -0.02622159 0.02795111
+v 0.00608398 -0.02622159 0.02793833
+v 0.00734821 -0.02622159 0.02791916
+v -0.00121020 -0.02573452 0.03515317
+v -0.01601098 -0.02622159 0.02767632
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+v -0.01250607 -0.02622159 0.02776579
+v -0.00652409 -0.02622159 0.02789360
+v -0.00421147 -0.02622159 0.02793833
+v -0.00313567 -0.02622159 0.02795111
+v 0.01899012 -0.01990919 -0.02912845
+v 0.01737300 -0.01150013 -0.02912842
+v 0.01528993 -0.01150035 0.03087800
+v 0.00966084 -0.02078420 0.03518514
+v 0.00272297 -0.02220516 0.03600311
+v 0.00503559 -0.02220516 0.03584974
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+v 0.01601969 -0.02622138 -0.02912848
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+v -0.01601098 -0.01150013 -0.02911564
+v -0.01172492 -0.01150035 0.03101860
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_20.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67824a4068116a1465f0ec299817e46e17962d79
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_20.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_21.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b0fb8fc7dcd30c3886796c7cb87c07151b5cd0
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_21.obj
@@ -0,0 +1,436 @@
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_22.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a52d5341cdbf8427eeff00f8b31e1ff6a91746
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_22.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01601635 0.02856038 0.00226319
+v -0.01601635 0.02856043 -0.01152345
+v -0.05586027 0.02856038 0.00226319
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_23.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32014d3b0927b1930974c1fd7a1d64d65d5aca1a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_24.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e53b0b29b5acc688db405f3f73f4aa3fd8220b
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_24.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_25.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559a75787919ce3f83b5a62319e0e7216408a37c
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_25.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06491306 -0.03139273 0.01107759
+v -0.06489259 -0.03139274 0.01335683
+v -0.06489031 -0.02961879 0.01335684
+v -0.06489486 -0.02961629 0.01283946
+v -0.06490851 -0.02961628 0.01108006
+v -0.06490851 -0.02961878 0.01107760
+v -0.06490851 -0.03368710 0.01107759
+v -0.06490851 -0.03368459 0.01108005
+v -0.06489031 -0.03368711 0.01335683
+v -0.06437625 -0.02961629 0.01335684
+v -0.06489486 -0.02961628 0.01107760
+v -0.06420110 -0.04745581 0.01108000
+v -0.06419883 -0.04745832 0.01107754
+v -0.06415788 -0.04745833 0.01335678
+v -0.04167768 -0.02961629 0.01335684
+v -0.04167768 -0.02961628 0.01107760
+v -0.06381441 -0.04972266 0.01107753
+v -0.06381214 -0.04995286 0.01335677
+v -0.04167768 -0.05501198 0.01335675
+v -0.04167768 -0.05341567 0.01107751
+v -0.06363472 -0.05039572 0.01335676
+v -0.06314794 -0.05087110 0.01107752
+v -0.06315022 -0.05087110 0.01107998
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+v -0.05046004 -0.05399615 0.01107751
+v -0.06262023 -0.05191195 0.01335676
+v -0.06199243 -0.05167425 0.01107752
+v -0.05961544 -0.05426137 0.01335675
+v -0.06211754 -0.05248492 0.01335676
+v -0.06238367 -0.05224223 0.01335676
+v -0.05046004 -0.05517711 0.01335675
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+v -0.05277334 -0.05392358 0.01107751
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+v -0.06004307 -0.05282269 0.01107998
+v -0.05739540 -0.05488438 0.01335675
+v -0.05888528 -0.05335062 0.01107751
+v -0.05508209 -0.05506703 0.01335675
+v -0.05739540 -0.05353827 0.01107751
+v -0.05676760 -0.05493692 0.01335675
+f 1 2 3
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+f 1 5 6
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+f 1 22 17
+f 1 17 13
+f 1 13 7
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+f 4 15 16
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+f 4 11 5
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+f 15 19 20
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+f 24 31 25
+f 25 31 32
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+f 32 38 33
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+f 33 40 39
+f 36 37 39
+f 36 39 40
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_26.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92da8d2de0b2f43c78a264fb07fc6c58078173a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_26.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01899012 0.00650754 0.02868168
+v 0.01898830 0.01307191 0.02895708
+v 0.01898830 0.01279408 0.02895708
+v 0.01899012 0.00534091 0.02866917
+v 0.01899012 0.00650776 -0.02911478
+v 0.01898830 0.01307213 -0.02911475
+v 0.01784746 0.01307190 0.03296873
+v 0.01898830 0.01222597 0.02893830
+v 0.01899012 0.00304498 0.02847515
+v 0.01899012 0.00534113 -0.02912104
+v 0.01898830 0.00993025 -0.02912728
+v 0.01147001 -0.00104907 -0.02922120
+v 0.00649905 0.01307213 -0.02917734
+v 0.01656287 0.01307190 0.03398885
+v 0.01775830 0.01102754 0.03274342
+v 0.01899012 -0.00104928 0.02793691
+v 0.01899012 -0.00104907 -0.02913984
+v 0.01378445 -0.00104907 -0.02920242
+v 0.00966322 -0.00104907 -0.02922746
+v 0.00684840 -0.00104907 -0.02923371
+v 0.00040181 -0.00104078 -0.02922746
+v 0.00503797 0.01307213 -0.02917108
+v 0.01507995 0.01307189 0.03448953
+v 0.01567130 0.00347623 0.03285604
+v 0.01595333 0.00534090 0.03301876
+v 0.01611163 0.00650753 0.03312516
+v 0.01626447 0.00763546 0.03322530
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+v 0.00272535 0.01222619 -0.02915857
+v 0.00040181 0.00076031 -0.02920242
+v 0.00044548 0.01307213 -0.02910850
+v 0.01428482 0.01307189 0.03469605
+v 0.01483250 0.00194606 0.03271835
+v 0.01425935 -0.00104930 0.03219889
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+v 0.01069489 0.01307189 0.03470231
+v 0.01197038 -0.00104930 0.03226148
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+v 0.00739608 -0.00104930 0.03189849
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+v 0.00966140 0.01222595 0.03455210
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+v 0.00814755 0.00304496 0.03283100
+v 0.00649360 0.00491240 0.03259945
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+v 0.00734514 0.01307189 0.03420789
+v 0.00040181 0.00303253 0.02980193
+v 0.00729965 0.00554271 0.03296870
+f 1 2 3
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+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
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+f 2 22 30
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+f 2 23 14
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+f 49 52 50
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+f 53 56 58
+f 53 58 54
+f 54 58 56
+f 54 56 55
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_27.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a81ba30752be23fd96e1317fdec712da7a4a4f
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_27.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00044517 0.01307191 0.02966055
+v 0.00040168 0.00304497 0.02979818
+v 0.00040168 0.00303253 0.02979818
+v 0.00044517 0.00650754 0.02917867
+v 0.00044517 0.01307213 -0.02910636
+v -0.00281191 0.01307190 0.03297718
+v 0.00040168 0.00073798 0.02957915
+v -0.00357061 0.01307190 0.03355290
+v 0.00040168 -0.00104929 0.02910356
+v 0.00044517 0.00650776 -0.02911265
+v -0.00044078 0.01307213 -0.02911262
+v 0.00044517 0.00993025 -0.02913140
+v 0.00040168 -0.00104907 -0.02923157
+v -0.00423104 0.01307190 0.03399094
+v -0.00453227 0.00650753 0.03313359
+v -0.00467885 0.00534090 0.03302721
+v -0.00425843 -0.00104930 0.03168802
+v 0.00044517 0.00760252 -0.02913141
+v -0.00737859 0.01307213 -0.02911887
+v -0.00240276 -0.00104907 -0.02922531
+v -0.01601098 0.01307213 -0.02912514
+v -0.01577419 0.01307213 -0.02912514
+v -0.00571622 0.01307189 0.03452286
+v -0.00510250 0.00304496 0.03283321
+v -0.00535701 0.00187142 0.03273309
+v -0.00611248 -0.00104930 0.03215110
+v -0.00471590 -0.00104907 -0.02921905
+v -0.01601098 0.01307191 0.02900974
+v -0.00702743 -0.00104907 -0.02920654
+v -0.01601098 0.01016523 -0.02913140
+v -0.00652646 0.01307189 0.03469807
+v -0.00652646 0.00071447 0.03255160
+v -0.00652646 -0.00104930 0.03224497
+v -0.01479481 0.01307190 0.03311485
+v -0.01601098 0.01222597 0.02899096
+v -0.00883477 -0.00104907 -0.02919402
+v -0.01396201 -0.00104907 -0.02915647
+v -0.01601098 -0.00104907 -0.02913144
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+v -0.01368012 0.00975447 0.03336515
+v -0.01316788 -0.00104930 0.03134385
+v -0.01279256 -0.00104930 0.03156287
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+f 1 3 4
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+f 1 10 18
+f 1 18 12
+f 1 12 5
+f 1 5 11
+f 1 11 19
+f 1 19 22
+f 1 22 21
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+f 1 34 43
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+f 49 58 50
+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_28.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb0fa7c708a611ef53061e895bdbc6c2a99ad2a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.05044312 0.02630555 0.02581160
+v -0.05071282 0.02598612 0.02581160
+v -0.05044312 -0.00438897 0.02581148
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+v -0.05237143 0.02337173 0.02581159
+v -0.05277143 0.03058587 0.02462919
+v -0.05283727 -0.00438897 0.02581148
+v -0.05044312 -0.00438889 0.00226673
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+v -0.05272285 0.03501854 0.02386628
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+v -0.05289766 0.02140602 0.02581158
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+v -0.05439917 0.03288575 0.02378790
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+v -0.05295668 0.01911597 0.02581157
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_29.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce777f6c86d95f2d2247aabc3324cfd6d1d105d7
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_29.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_3.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e6bba2cc7ce562998adc941c4b38e29ae3e26b
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_3.obj
@@ -0,0 +1,787 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_30.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3194df18524286203b454127f6bba21bb539893
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_30.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_31.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eceb09b65726c8c15400544bd7ccdc82e951aa5
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_31.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_4.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fda6fafe0896d66ed11ba181e018bb90e350322
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_4.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_5.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfebd9364aa330a0e693f7a6d505945bef957617
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_5.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_6.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8045619206c63a03bd01cbfe37c54b850fa7162
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_6.obj
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_7.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc608b072c9699e23151086f0bc64ae9aae02dc2
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.07091613 0.01681652 0.00880046
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+v -0.07088048 0.01452088 0.00226449
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_8.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c58ab13507547d8fe860ef51cbe4011477d90118
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_8.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01601598 -0.00438890 0.00438533
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+v -0.01601598 -0.00438884 -0.01171798
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+
diff --git a/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_9.obj b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edc8842ff58db986634fba4c3a785d92de2ca8a
--- /dev/null
+++ b/dataset/tools/repair_tools/bf94f572dd4058a4a0bbe929984b6244/mjcf/mesh/measuring_tape_018_collision_9.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
+v -0.01601098 0.06085829 -0.01160984
+v -0.01601098 0.02856366 -0.01160996
+v -0.01601098 0.06085829 -0.01171671
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