diff --git a/.gitattributes b/.gitattributes
index 74958696107247b8b01ec4443d49af95918f28bd..4ce23808ed1162a4426575edd7add62ea7ce3efd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5529,3 +5529,5 @@ dataset/tools/repair_tools/74e03971ebac5739b279bfef0facb8e3/screwdriver_027.usd
 dataset/tools/repair_tools/75f02139bb2d5baa95ebe896d0ae45c4/measuring_tape_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/75f02139bb2d5baa95ebe896d0ae45c4/mesh/measuring_tape_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/77b70afca93651a4b4e53fb6e02244ae/77b70afca93651a4b4e53fb6e02244ae.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.urdf b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be22dda8051d3b2ed013bdf5e4412beabbeae345
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_002">
+   <link name="measuring_tape_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>78cc90f02de95b1fb372f4ac8ee89ef2</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>orange measuring tape</name>
+         <color>orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact orange measuring tape with metallic clip and black slider</description>
+         <min_height>0.0415</min_height>
+         <max_height>0.0415</max_height>
+         <real_height>0.0415</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420205234</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.usd b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..97b8421f79acfbbae66cd16eaf940a640d0eca91
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/measuring_tape_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:872433b910b9362bec642cb18019260876751108b1841cda76feb3098d81c45c
+size 4998283
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material.mtl b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..31ef8e6415336ab02bd14b1aeb8810747c14174d
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material_0.png b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e2ab9778b8f2fe0b7dc2f06ed23e302f2da06a9
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6be7957a172f111b040afdf997432d2709299b32a1df98277ccbb721306dce0
+size 11734036
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.glb b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b563bfeee4c9ad0c817ee1db53386a1fe9dc04f1
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e56ee023869a367f6a0307e5e91ecc7500ef86e8c3119806e0b9cc941292cc0
+size 15220056
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.mtl b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13914b8349724c6ca2efce1371d787c5d80e9108
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.mtl
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+newmtl measuring_tape_002_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/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642376f97e2f9aabbeabd00ddf9ac60a53b509b2
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002.obj
@@ -0,0 +1,117324 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_002_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_collision.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4840a6e1418e417443b2558e3b74ea9a49dc11c9
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_collision.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_geometry_Looks_material_0.png b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e2ab9778b8f2fe0b7dc2f06ed23e302f2da06a9
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mesh/measuring_tape_002_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b6be7957a172f111b040afdf997432d2709299b32a1df98277ccbb721306dce0
+size 11734036
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/measuring_tape_002.xml b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/measuring_tape_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..39c509a849579b169186f48ca7194db8f21c4f86
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/measuring_tape_002.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_002">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/measuring_tape_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/measuring_tape_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/measuring_tape_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/measuring_tape_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/measuring_tape_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/measuring_tape_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e2ab9778b8f2fe0b7dc2f06ed23e302f2da06a9
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6be7957a172f111b040afdf997432d2709299b32a1df98277ccbb721306dce0
+size 11734036
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfadc48adc3ed53a903a460431a22dde4a0f642
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002.obj
@@ -0,0 +1,117324 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_002_geometry_Looks_material_0
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+v 0.049983 -0.046358 0.007006
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90738aac9b932c37df21087d2db0ddff81fbc02
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision.obj
@@ -0,0 +1,24043 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_0.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74f4c9a73039dbb53fa21d4b2968c8d4a185ad9c
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_0.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_1.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac6f07e5ec45e8e57988877e3c1bc6c4aba6a76
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_1.obj
@@ -0,0 +1,3277 @@
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_10.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf9ee02f11bac8f2e91560cf48f9114057ff7f
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_10.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_11.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed2faa2f222983dad4d222a0fe3937066b6d6de
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_11.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_12.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a69c729519ab2c89177a50b935eb65468141403
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_12.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_13.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0518d11f5572c2ff2ecd25a496e46e0b41557ebd
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_13.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_14.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_14.obj
new file mode 100644
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_15.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea5b2acf21108fd7642c4092ef2e86f62b0e6cb
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_15.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_16.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa64a4e18a0f0ceb6fd0395d96fd4db6db421513
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_16.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_17.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b7c71c37f659eca77d2bb9c01b10c93ecb50821
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_17.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_18.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..decf771f2952df8b5b92a30b06a4499951d6e0b5
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_18.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_19.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11edbe4abc5fd2ca06d6e0c68e104575931b55da
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_19.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_2.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5568b1c4481c060e262bc57014ce8c30bd578d
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_2.obj
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+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_20.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6c890c5d1962282b90e461381fba7461c2993a
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_20.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.04152292 -0.01059370 0.00504284
+v 0.04286322 -0.01684487 0.00504282
+v 0.04287952 -0.01684487 0.00441199
+v 0.04289582 -0.01684486 0.00241978
+v 0.04145229 -0.01059369 0.00241980
+v 0.02439431 -0.01059370 0.00504284
+v 0.02439431 -0.01684487 0.00504282
+v 0.04277085 -0.01684485 0.00002371
+v 0.04137803 -0.01059368 0.00002373
+v 0.02439431 -0.01059368 0.00002373
+v 0.02439431 -0.01684485 0.00002371
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 11 10
+f 8 10 9
+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_21.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8e9b5ed8ca483af6068845ca95a49770a3a9c0
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_21.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.03990322 0.01443380 0.00002320
+v 0.04199170 0.01150124 0.00002319
+v 0.03990322 0.01725767 -0.00637709
+v 0.03990322 -0.01050790 0.00002311
+v 0.04223537 0.01109628 0.00002319
+v 0.04249040 0.01067230 0.00002319
+v 0.04543442 0.00508440 0.00002317
+v 0.04287864 0.01103923 -0.00637711
+v 0.03990322 -0.01050788 -0.00637719
+v 0.04139174 -0.01050790 0.00002311
+v 0.04543442 0.00520401 -0.00563145
+v 0.04543442 -0.00305284 0.00002314
+v 0.04543442 0.00517411 -0.00637713
+v 0.04185417 -0.01050788 -0.00637719
+v 0.04281908 -0.00799661 0.00002312
+v 0.04305733 -0.00822489 -0.00637718
+v 0.04543442 -0.00316425 -0.00552746
+v 0.04543442 -0.00312620 -0.00637716
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 12
+f 1 12 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 13
+f 3 13 18
+f 3 18 16
+f 3 16 14
+f 3 14 9
+f 4 9 14
+f 4 14 10
+f 7 11 8
+f 7 12 17
+f 7 17 18
+f 7 18 13
+f 7 13 11
+f 8 11 13
+f 10 14 15
+f 12 15 14
+f 12 14 16
+f 12 16 17
+f 16 18 17
+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_22.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91df29f0c80b6072905b1544c8a2dd4171827ed5
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_22.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04543442 -0.04466037 0.00725135
+v 0.04543442 -0.04451147 0.00886015
+v 0.04409009 -0.04169101 0.01047059
+v 0.04409009 -0.04171544 0.00959733
+v 0.04409009 -0.04173591 0.00886016
+v 0.04409009 -0.04175088 0.00805333
+v 0.04409009 -0.04176506 0.00725136
+v 0.04409009 -0.04182019 0.00403050
+v 0.04409009 -0.04182176 0.00311836
+v 0.04543442 -0.04461781 0.00564092
+v 0.04543442 -0.04254267 0.01139568
+v 0.04409009 -0.03863421 0.01578792
+v 0.04409009 -0.03875791 0.01562105
+v 0.04409009 -0.04146648 0.01184448
+v 0.04409009 -0.04149480 0.00125195
+v 0.04409009 -0.04085980 0.00025232
+v 0.04543442 -0.04402221 0.00481464
+v 0.04543442 -0.04153817 0.01161765
+v 0.04422142 -0.03661183 0.01644085
+v 0.04409009 -0.03661183 0.01680377
+v 0.04416378 -0.03773056 0.01624319
+v 0.04409009 -0.03783928 0.01635984
+v 0.04543442 -0.04059430 0.00025232
+v 0.04409009 -0.03661177 0.00025234
+v 0.04543442 -0.03827888 0.01044468
+v 0.04434827 -0.03661183 0.01530027
+v 0.04543442 -0.03665825 0.00025234
+v 0.04494332 -0.03661177 0.00025234
+v 0.04543442 -0.03817725 0.00996511
+v 0.04543442 -0.03794403 0.00886017
+v 0.04543442 -0.03665825 0.00086314
+v 0.04494490 -0.03661177 0.00081129
+v 0.04494490 -0.03661177 0.00080319
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 17
+f 1 17 23
+f 1 23 27
+f 1 27 31
+f 1 31 30
+f 1 30 29
+f 1 29 25
+f 1 25 18
+f 1 18 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 13
+f 3 13 12
+f 3 12 22
+f 3 22 20
+f 3 20 24
+f 3 24 16
+f 3 16 15
+f 3 15 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 16 23 17
+f 16 24 28
+f 16 28 27
+f 16 27 23
+f 18 25 19
+f 19 26 32
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+f 19 33 28
+f 19 28 24
+f 19 24 20
+f 19 25 26
+f 20 22 21
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 32
+f 27 28 33
+f 27 33 32
+f 27 32 31
+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_23.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d270accb8e7953053ca39b2c6a930f12f417460e
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_23.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04543442 -0.04461999 -0.00724297
+v 0.04409009 -0.04173134 -0.00885123
+v 0.04409009 -0.04168979 -0.01046285
+v 0.04543442 -0.04453141 -0.00849719
+v 0.04543442 -0.04461372 -0.00696740
+v 0.04409009 -0.04181681 -0.00402306
+v 0.04409009 -0.04178936 -0.00563301
+v 0.04409009 -0.04177525 -0.00641961
+v 0.04409009 -0.04155417 -0.01136636
+v 0.04543442 -0.04445929 -0.00885124
+v 0.04409009 -0.04146951 -0.01183565
+v 0.04543442 -0.04457924 -0.00563302
+v 0.04409009 -0.04169452 -0.00243315
+v 0.04543442 -0.04395210 -0.00954432
+v 0.04409009 -0.03878152 -0.01562837
+v 0.04543442 -0.04059473 0.00025065
+v 0.04409009 -0.04085969 0.00025065
+v 0.04409009 -0.04118814 -0.00065453
+v 0.04543442 -0.04279037 -0.01109916
+v 0.04409009 -0.03785888 -0.01636654
+v 0.04543442 -0.04215699 -0.01170538
+v 0.04543442 -0.04254972 -0.01138641
+v 0.04543442 -0.03665802 0.00025067
+v 0.04409009 -0.03661177 0.00025067
+v 0.04409009 -0.03737287 -0.01657530
+v 0.04543442 -0.04154634 -0.01161186
+v 0.04409009 -0.03661249 -0.01680743
+v 0.04422194 -0.03661249 -0.01644001
+v 0.04422194 -0.03661171 -0.01644001
+v 0.04494332 -0.03661177 0.00025067
+v 0.04543442 -0.03665802 0.00013877
+v 0.04409009 -0.03661171 -0.01680743
+v 0.04543442 -0.03827907 -0.01043445
+v 0.04434761 -0.03661171 -0.01529434
+v 0.04494043 -0.03661177 -0.00078644
+v 0.04543442 -0.03666037 -0.00083822
+v 0.04543442 -0.03802118 -0.00921530
+v 0.04543442 -0.03794436 -0.00885122
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 22
+f 1 22 21
+f 1 21 26
+f 1 26 33
+f 1 33 37
+f 1 37 38
+f 1 38 36
+f 1 36 31
+f 1 31 23
+f 1 23 16
+f 1 16 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 13
+f 2 13 18
+f 2 18 17
+f 2 17 24
+f 2 24 32
+f 2 32 27
+f 2 27 25
+f 2 25 20
+f 2 20 15
+f 2 15 11
+f 2 11 9
+f 2 9 3
+f 3 9 4
+f 4 9 11
+f 4 11 10
+f 5 12 6
+f 6 12 13
+f 10 11 15
+f 10 15 14
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 15 19
+f 15 20 21
+f 15 21 22
+f 15 22 19
+f 16 23 30
+f 16 30 24
+f 16 24 17
+f 20 25 21
+f 21 25 27
+f 21 27 28
+f 21 28 29
+f 21 29 26
+f 23 31 30
+f 24 30 35
+f 24 35 34
+f 24 34 29
+f 24 29 32
+f 26 29 33
+f 27 32 29
+f 27 29 28
+f 29 34 33
+f 30 31 35
+f 31 36 35
+f 33 34 37
+f 34 38 37
+f 34 35 36
+f 34 36 38
+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_24.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994a1cbf659ff9862c46230bd0abc622306dd5c1
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_24.obj
@@ -0,0 +1,1471 @@
+# https://github.com/mikedh/trimesh
+v 0.03174341 -0.04462503 0.00403111
+v 0.03338890 -0.04458696 0.00403111
+v 0.03174341 -0.04461417 0.00564309
+v 0.03009301 -0.04441838 0.00564309
+v 0.03009301 -0.04442653 0.00403111
+v 0.03174341 -0.04461685 -0.00402061
+v 0.03338727 -0.04458694 -0.00402061
+v 0.03503930 -0.04448091 0.00403111
+v 0.03338890 -0.04457338 0.00564309
+v 0.03338890 -0.04453260 0.00725098
+v 0.03174341 -0.04457067 0.00725098
+v 0.03009301 -0.04436672 0.00725098
+v 0.02915740 -0.04412471 0.00725098
+v 0.02910670 -0.04414917 0.00564309
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_25.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8b89ae3cd81c7fce456d78f97fadd87445d083
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_25.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02439430 -0.01059306 0.00002373
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+
diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_3.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae51f9f9135b6a653a48d6b65dcf63a6ab43e25
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_4.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28f70f89af5fa162cd2580d26939e01fcb2cccf
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_4.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.04824412 -0.05102812 0.00885900
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_5.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a54eef3511453ba0f1afad52bc1577ee88656e
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_5.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_6.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a48ef947ee8296b276f4cc030a67d396af33057
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_6.obj
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_7.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131b82abcab34e8fda9b4c0f57821707641a0664
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_7.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_8.obj b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b24aa128c0dcfc704dc54b12335111eac436b4d
--- /dev/null
+++ b/dataset/tools/repair_tools/78cc90f02de95b1fb372f4ac8ee89ef2/mjcf/mesh/measuring_tape_002_collision_8.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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