diff --git a/.gitattributes b/.gitattributes
index 216cb8b266dc78aebe1afcda8f5a92a48d247ff9..7647a926abc75b0496c9abb68a805c08676a7477 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5182,5 +5182,5 @@ dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/mesh/mini_hammer_015
 dataset/tools/repair_tools/f144de58267e5c1ea95511d3572cf6a1/mini_hammer_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/hex_key_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/f0841cad08ec5140989955fb25aa299d/mesh/hex_key_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/f669f53ef16c5c8eb9fb1427d566428f/hex_key_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/f669f53ef16c5c8eb9fb1427d566428f/mesh/hex_key_007.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
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.urdf b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ca09534aa79db7fe15946083064676d064b64b7
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_037">
+   <link name="measuring_tape_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_037.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_037_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>f6ccc7c7cd9d55de8d80d2b9ab8ba6b8</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>retractable tape</name>
+         <color>red,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact red measuring tape with blue grip and metal belt clip</description>
+         <min_height>0.0648</min_height>
+         <max_height>0.0648</max_height>
+         <real_height>0.0648</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609210452</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070300 -0.057622 -0.029566</min>
+            <max>0.069700 0.063344 0.035194</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":"Metal clip and side button are merged with unrelated trim; tape outlet/retraction features are inconsistently split.","merge_groups":[{"colors":["Yellow","Purple"],"target_part":"small controls/trim","reason":"small side details split without clear functional separation"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.usd b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ac72aa82e22e803368efb7c44088818ad765bf52
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/measuring_tape_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa8ff3c20d932af5d242fb000cdda52a320bce4e850fe4f92484acffbeee28d
+size 4924774
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material.mtl b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff7b27eb1122e4358b78c953362f6c29658fb687
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material_0.png b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..061cb2c4947ec8bde86278ecca196e3bbfdb9f8e
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb15d3a9e9a9f9e5419e05338968a67f3c1278911148b38c8b5995656403bc3
+size 11763541
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.glb b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..62fd54b5ecd8276343bb802a6ac268b7b0fe6511
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d86f1c948f68d1a9b46dfce50770bb9e2aec9a55503a49163fcd5632741f3690
+size 15124684
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.mtl b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c1a08174717d838786057f3bbcaf11337918fbe
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_037_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/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5687124f22c1b5c9e7cb30160ab63c0c2bb03af2
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037.obj
@@ -0,0 +1,118309 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_037_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_collision.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2b51a30e13f16cf1a434b5e69cbe5fa49a3d28
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_collision.obj
@@ -0,0 +1,11282 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_geometry_Looks_material_0.png b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..061cb2c4947ec8bde86278ecca196e3bbfdb9f8e
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mesh/measuring_tape_037_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11763541
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/measuring_tape_037.xml b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/measuring_tape_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d5f707bf1b86f18b9e1900b5767454afaa92bbd
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/measuring_tape_037.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..061cb2c4947ec8bde86278ecca196e3bbfdb9f8e
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb15d3a9e9a9f9e5419e05338968a67f3c1278911148b38c8b5995656403bc3
+size 11763541
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b68784a13b81391a63f304a2ec1e991d0159c1a
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037.obj
@@ -0,0 +1,118309 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_037_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cc1ca9794cd950c49241cd6d220a5d8c96a1e9
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision.obj
@@ -0,0 +1,11282 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_0.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bdb19af6d7722cb47e8f4cbee25031cecc0dd7c
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_0.obj
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_1.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0248bd3312643d596c1242e5b5409ca9c936e6b
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_1.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_10.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900cd39212d6bc21c6e096fc9d73c4e20a6300e4
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_10.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v -0.05065403 -0.04892411 0.00262947
+v -0.04961478 -0.03721898 0.00262951
+v -0.05032214 -0.05122391 0.00262946
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+v -0.05471713 -0.05096123 0.01240014
+v -0.05471713 -0.04892415 0.01234000
+v -0.05471713 -0.04662637 0.01275060
+v -0.05471713 -0.04513292 0.01358749
+v -0.05471713 -0.04471662 0.01514882
+v -0.04961813 -0.03721898 0.00274197
+v -0.02047240 -0.03721898 0.00262951
+v -0.05471713 -0.05310542 0.01325794
+v -0.05471713 -0.05290535 0.01316118
+v -0.04927284 -0.05290127 0.00262946
+v -0.05471713 -0.04465195 0.01740581
+v -0.04962819 -0.03721898 0.00385346
+v -0.02047240 -0.03721908 0.02883459
+v -0.02047240 -0.05409563 0.00262945
+v -0.05471713 -0.05380264 0.01494218
+v -0.04847497 -0.05329737 0.00262945
+v -0.05471713 -0.05387742 0.01514878
+v -0.05471713 -0.04468429 0.01766210
+v -0.04955109 -0.03721903 0.01740583
+v -0.04962149 -0.03721901 0.01063226
+v -0.04962484 -0.03721900 0.00857927
+v -0.04962819 -0.03721898 0.00406007
+v -0.02047240 -0.03742723 0.02895227
+v -0.02678831 -0.03721908 0.02920334
+v -0.02047240 -0.05456047 0.01112649
+v -0.02392872 -0.05669052 0.01288917
+v -0.02508194 -0.05721596 0.01288917
+v -0.02528979 -0.05712501 0.01152400
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+v -0.02047240 -0.05007814 0.02477041
+v -0.02047240 -0.04770357 0.02684171
+v -0.02047240 -0.04643444 0.02786429
+f 1 2 11
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+f 1 18 35
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_11.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5437b3ea596a381b03d52439c996820f4b8a8fa5
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_11.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01272914 0.03191605 0.02643423
+v 0.01272914 0.03160220 0.02643423
+v 0.01272914 0.04078812 0.02631832
+v 0.01010626 0.03160220 0.02675043
+v 0.01272914 0.03160240 -0.02692423
+v -0.02213333 0.04078812 0.02632886
+v 0.00776684 0.03160220 0.02682421
+v 0.01272914 0.04078832 -0.02700325
+v -0.01300447 0.03160240 -0.02692423
+v -0.02215723 0.04078832 -0.02701379
+v -0.02216065 0.04078812 0.02632886
+v -0.01527559 0.03160220 0.02681894
+v -0.02216065 0.03160240 -0.02691896
+v -0.02216065 0.04076584 -0.02700325
+v -0.02216065 0.04078832 -0.02698744
+v -0.02216065 0.03386744 0.02624451
+v -0.02215382 0.03160220 0.02626032
+v -0.01758085 0.03160220 0.02677678
+v -0.02216065 0.03160240 -0.02612846
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 7
+f 2 7 12
+f 2 12 18
+f 2 18 17
+f 2 17 19
+f 2 19 13
+f 2 13 9
+f 2 9 5
+f 3 6 7
+f 3 7 4
+f 3 8 10
+f 3 10 15
+f 3 15 11
+f 3 11 6
+f 5 9 10
+f 5 10 8
+f 6 11 7
+f 7 11 12
+f 9 13 10
+f 10 14 15
+f 10 13 14
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 11 15 14
+f 11 14 13
+f 11 13 19
+f 11 19 16
+f 16 19 17
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_12.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea323926cba47673c3b7fcf2f3ada2e50bebae2
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_12.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.06116718 0.03055965 0.00836770
+v 0.05216715 0.03930489 0.01514504
+v 0.06112925 0.03055964 0.01062487
+v 0.06116718 0.03055971 -0.00743832
+v 0.05195851 0.03930489 0.01689870
+v 0.05216240 0.03930500 -0.01421561
+v 0.06032788 0.03055963 0.01241325
+v 0.05189686 0.03930489 0.01740222
+v 0.05288791 0.03755685 0.01875074
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_13.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c4e9d7f25dcf836c95ecbaa06d827040e7c5c9
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_13.obj
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_14.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1684e3095e8747cfdaa138041b0560fd5b8ae65
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_14.obj
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_15.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33974f649924065340a760b7b8f4c337265c3f2c
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.06715991 -0.01443145 0.01033290
+v -0.06715869 -0.01443144 0.00837088
+v -0.06715747 -0.01458675 0.01033290
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+v -0.06714529 -0.01443142 0.00262960
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_16.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c9ad4d85f985b249474fa902f944a19f95224
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_16.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_17.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb28dafbd3303c60ee79e17eda705a59035dbcb
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_17.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00722619 0.06146867 0.00159314
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_18.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cde327dab89534adde0f6299cea9106bf594fcd
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_18.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.06129984 -0.04179152 0.01740611
+v -0.06142202 -0.03318324 0.01752787
+v -0.06148403 -0.03318325 0.01804642
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+v -0.06147946 -0.03318324 0.01598948
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+v -0.06210314 -0.03318323 0.01369772
+v -0.06358392 -0.03318326 0.02149030
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_19.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5ac3b31cc490b905283056b6302c19505af46e
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_19.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02047240 -0.02978585 0.00262954
+v -0.02047240 -0.02978594 0.02624546
+v -0.02047240 -0.01443142 0.00262960
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+f 22 30 31
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+f 22 24 23
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_2.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..437305a140090d6ee3daf258f8f63a45c72882e0
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_2.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
+v 0.06925251 0.02236719 -0.00743732
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_20.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc810b11828fcaa9020fe2eb5159f8abd076aefb
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_21.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581dc81333a09c33386e3e53199d3c48a9ef3b4d
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_22.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4422c78e9853897e97156e632854bd3af6b811b4
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_22.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_23.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f93c959a7bc9e9ad42bb9d05eb383da888d19b
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_23.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_24.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02afd191df6b4a22accd8661bd6325360ed80d52
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_24.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.01272914 0.02696628 0.02838563
+v 0.01242177 0.02696627 0.03095430
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+v -0.01857126 0.01664774 0.03433857
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_25.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b71795f044b8de521b8dbca5bdaa096a7b2b7dd
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.05046606 -0.05402164 -0.01647544
+v -0.05046606 -0.05397915 -0.01482763
+v -0.05046606 -0.05377089 -0.01873459
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+v -0.02680279 -0.05769339 -0.01647545
+v -0.02680279 -0.05746392 -0.01421831
+v -0.02910606 -0.05758291 -0.01421831
+v -0.04754193 -0.05382617 -0.01117876
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_26.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9c1c294132a70fbfc166be8a12debbe82835f1
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_26.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01272914 -0.00126738 0.02697594
+v 0.01134939 -0.00126739 0.03000114
+v 0.01272914 -0.01442765 0.02697589
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+f 6 40 45
+f 6 45 44
+f 6 44 51
+f 6 51 47
+f 6 47 41
+f 6 41 33
+f 6 33 23
+f 6 23 15
+f 6 15 14
+f 6 14 8
+f 6 8 7
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 14 15
+f 10 19 18
+f 10 18 20
+f 12 21 13
+f 13 21 22
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 20
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 23 33 24
+f 24 33 41
+f 24 41 46
+f 24 46 48
+f 24 48 42
+f 24 42 34
+f 24 34 35
+f 24 35 36
+f 24 36 26
+f 24 26 25
+f 26 36 37
+f 26 37 27
+f 27 37 28
+f 28 37 29
+f 29 37 38
+f 30 39 40
+f 30 40 31
+f 35 38 37
+f 35 37 36
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 41 47 46
+f 42 48 49
+f 43 50 44
+f 44 50 51
+f 46 47 49
+f 46 49 48
+f 47 51 49
+f 49 51 52
+f 50 52 51
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_27.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71139f85532b343a6a8b618b16b8c188dc5a840a
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_27.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.05422742 0.00140301 -0.00747773
+v 0.05422742 0.01060388 -0.00747770
+v 0.05775417 0.00140301 -0.00747773
+v 0.05422742 0.00140295 0.00836390
+v 0.06247974 0.01060388 -0.00747770
+v 0.05422742 0.01060382 0.00836393
+v 0.05784582 0.00140751 -0.00747773
+v 0.05783203 0.00140301 -0.00744051
+v 0.05781581 0.00140295 0.00836390
+v 0.06248298 0.01060388 -0.00744048
+v 0.06250894 0.01060382 0.00836393
+v 0.06250975 0.01060387 -0.00580453
+v 0.06251218 0.01060387 -0.00518116
+v 0.06251218 0.01060384 0.00385304
+v 0.06251137 0.01060383 0.00611236
+v 0.05783690 0.00140385 0.00836390
+v 0.05782879 0.00140296 0.00411507
+v 0.05782716 0.00140296 0.00637439
+v 0.06251056 0.01060382 0.00775142
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 10
+f 2 10 5
+f 3 7 8
+f 4 9 16
+f 4 16 11
+f 4 11 6
+f 5 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 9 18 16
+f 11 16 19
+f 15 19 16
+f 16 18 17
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_28.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8be92d92cc0f0c18a75431daa1a9ec0f03d974b
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_28.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01272914 -0.00062964 0.02697196
+v 0.01272914 -0.00126609 0.02696590
+v 0.01272914 0.00682047 0.02689933
+v 0.01204279 0.01392557 0.03094997
+v 0.01204279 0.01316717 0.03094997
+v 0.01272914 -0.00126589 -0.02691514
+v 0.01169962 0.01392556 0.03276033
+v 0.01167401 0.01316716 0.03267556
+v 0.01154596 0.01086819 0.03245153
+v 0.01134962 -0.00126610 0.02999327
+v 0.01272914 0.01392558 0.02636654
+v 0.01272914 0.00362203 -0.02692118
+v 0.00085807 -0.00126589 -0.02783546
+v 0.00085807 -0.00062944 -0.02784151
+v 0.01004692 0.01392556 0.03368065
+v 0.01136840 0.00856921 0.03223355
+v 0.01125401 0.00728143 0.03211245
+v 0.01012204 -0.00126610 0.03063507
+v 0.01272914 0.01392578 -0.02692114
+v -0.00144854 -0.00126589 -0.02794445
+v -0.00144854 -0.00062944 -0.02795050
+v 0.00085807 0.00167102 -0.02782939
+v 0.00845228 0.01392556 0.03385018
+v 0.00920350 0.00478171 0.03214877
+v 0.00943570 -0.00126610 0.03078644
+v -0.00375173 0.00856943 -0.02753875
+v -0.00375173 0.01392578 -0.02692720
+v -0.00144854 0.00167102 -0.02793232
+v -0.00144854 0.00397000 -0.02785967
+v -0.00144854 0.00627046 -0.02772040
+v -0.00375173 0.00627046 -0.02776278
+v -0.00375173 0.00682662 -0.02771433
+v -0.00375173 -0.00126589 -0.02794445
+v -0.00460198 -0.00102945 -0.02794445
+v -0.00460198 0.00022115 -0.02794445
+v -0.00460198 0.00167102 -0.02793838
+v -0.00375173 0.00167102 -0.02793838
+v 0.00776934 0.01392556 0.03390468
+v 0.00776934 -0.00126610 0.03113761
+v -0.00471296 0.00856943 -0.02752664
+v -0.00471296 0.01392578 -0.02692720
+v -0.00375173 0.00397000 -0.02788389
+v -0.00460198 0.00627046 -0.02775673
+v -0.00460198 0.00397000 -0.02788389
+v -0.00471296 0.00682662 -0.02770223
+v -0.00460198 -0.00126589 -0.02793839
+v 0.00546274 0.01392556 0.03389862
+v 0.00316296 -0.00126610 0.03113761
+v -0.00471296 0.01392558 0.02760170
+v -0.00471296 0.00682642 0.02722629
+v -0.00460198 -0.00126609 0.02657840
+v 0.00316126 0.01392556 0.03388046
+v 0.00252442 -0.00126610 0.03105285
+v 0.00181759 0.00477724 0.03214877
+v -0.00085780 0.01392556 0.03265135
+v -0.00064097 -0.00126610 0.02999932
+v 0.00085636 0.01392556 0.03345057
+v 0.00085807 -0.00126610 0.03066534
+v 0.00031513 -0.00126610 0.03053214
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 18
+f 2 18 25
+f 2 25 39
+f 2 39 48
+f 2 48 53
+f 2 53 58
+f 2 58 59
+f 2 59 56
+f 2 56 51
+f 2 51 46
+f 2 46 33
+f 2 33 20
+f 2 20 13
+f 2 13 6
+f 3 11 4
+f 4 7 5
+f 4 11 19
+f 4 19 27
+f 4 27 41
+f 4 41 49
+f 4 49 55
+f 4 55 57
+f 4 57 52
+f 4 52 47
+f 4 47 38
+f 4 38 23
+f 4 23 15
+f 4 15 7
+f 6 13 14
+f 6 14 12
+f 7 15 9
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+f 9 15 16
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+f 10 16 17
+f 10 17 18
+f 12 14 19
+f 13 20 21
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+f 14 21 22
+f 14 22 19
+f 15 23 24
+f 15 24 17
+f 15 17 16
+f 17 24 18
+f 18 24 25
+f 19 26 27
+f 19 22 28
+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 26
+f 20 33 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 28
+f 21 28 22
+f 21 33 34
+f 23 38 24
+f 24 39 25
+f 24 38 39
+f 26 40 41
+f 26 41 27
+f 26 32 45
+f 26 45 40
+f 28 37 42
+f 28 42 29
+f 29 42 31
+f 29 31 30
+f 31 43 32
+f 31 42 44
+f 31 44 43
+f 32 43 45
+f 33 46 34
+f 34 46 45
+f 34 45 35
+f 35 45 36
+f 36 44 42
+f 36 42 37
+f 36 45 44
+f 38 47 48
+f 38 48 39
+f 40 45 50
+f 40 50 49
+f 40 49 41
+f 43 44 45
+f 45 46 51
+f 45 51 50
+f 47 52 48
+f 48 52 54
+f 48 54 53
+f 49 50 55
+f 50 51 55
+f 51 56 55
+f 52 57 54
+f 53 54 58
+f 54 59 58
+f 54 57 59
+f 55 56 59
+f 55 59 57
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_29.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54ae3a3fddf3f6a989f0d4bfc9af6636be232741
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.05422661 -0.01443132 -0.02327983
+v 0.05422661 0.00140306 -0.02202563
+v 0.05951454 0.00140305 -0.01982895
+v 0.05950384 -0.00063050 -0.01982586
+v 0.05947502 -0.00293064 -0.01981657
+v 0.05942974 -0.00523078 -0.01980108
+v 0.05937376 -0.00752782 -0.01978093
+v 0.05925273 -0.01443134 -0.01967244
+v 0.05422661 -0.01443138 -0.00744419
+v 0.05422661 0.00140301 -0.00744413
+v 0.05966273 0.00140305 -0.01972354
+v 0.06077827 0.00140305 -0.01892671
+v 0.06077827 -0.00063050 -0.01890967
+v 0.06077827 -0.00293064 -0.01884457
+v 0.06202060 -0.00293064 -0.01776251
+v 0.06197368 -0.00467280 -0.01768191
+v 0.06029830 -0.01443134 -0.01854387
+v 0.05932189 -0.01443138 -0.00744419
+v 0.05783340 0.00140301 -0.00744413
+v 0.06206177 0.00140305 -0.01783225
+v 0.06205353 -0.00063050 -0.01781831
+v 0.06234580 -0.00063051 -0.01647580
+v 0.06228488 -0.00293065 -0.01647581
+v 0.06212845 -0.00535634 -0.01665875
+v 0.06191687 -0.00620572 -0.01753463
+v 0.06112817 -0.01443135 -0.01647585
+v 0.06157356 -0.01442983 -0.00744419
+v 0.06155133 -0.01443137 -0.00969978
+v 0.06222642 -0.00590815 -0.00744416
+v 0.06233592 0.00140303 -0.01246534
+v 0.06236226 0.00140304 -0.01647579
+v 0.06262242 -0.00063052 -0.01421866
+v 0.06258043 -0.00293066 -0.01421867
+v 0.06248987 -0.00523080 -0.01421868
+v 0.06206341 -0.00752783 -0.01607897
+v 0.06185265 -0.00752783 -0.01720754
+v 0.06145419 -0.01212811 -0.01647584
+v 0.06189958 -0.01070060 -0.01507288
+v 0.06177444 -0.01208782 -0.01427916
+v 0.06137103 -0.01443136 -0.01421871
+v 0.06188147 -0.01300852 -0.00744419
+v 0.06186994 -0.01294031 -0.00969978
+v 0.06149700 -0.01443137 -0.01195847
+v 0.06149782 -0.01442827 -0.01195847
+v 0.06250551 -0.00752786 -0.00744417
+v 0.06260266 0.00140303 -0.01401402
+v 0.06239437 0.00140304 -0.01621380
+v 0.06263724 0.00140303 -0.01421865
+v 0.06252033 -0.00752785 -0.00969976
+v 0.06249810 -0.00752785 -0.01195845
+v 0.06232686 -0.00752784 -0.01421869
+v 0.06198520 -0.00916769 -0.01564026
+v 0.06175139 -0.00989152 -0.01642624
+v 0.06208153 -0.00989153 -0.01427916
+v 0.06198438 -0.01129424 -0.01356760
+v 0.06183784 -0.01274657 -0.01195847
+v 0.06208729 -0.01185845 -0.00744418
+v 0.06207494 -0.01179024 -0.00969977
+v 0.06236638 -0.00982800 -0.00744418
+v 0.06234744 -0.00982799 -0.00969977
+v 0.06227911 -0.00982799 -0.01195846
+v 0.06203872 -0.01159650 -0.01195846
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 26
+f 1 26 40
+f 1 40 43
+f 1 43 28
+f 1 28 18
+f 1 18 9
+f 1 9 10
+f 1 10 2
+f 2 10 19
+f 2 19 30
+f 2 30 46
+f 2 46 48
+f 2 48 47
+f 2 47 31
+f 2 31 20
+f 2 20 12
+f 2 12 11
+f 2 11 3
+f 3 11 4
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+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 7
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+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 27
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+f 9 41 57
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+f 9 59 45
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+f 9 29 19
+f 9 19 10
+f 12 20 13
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+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 18 28 27
+f 19 29 30
+f 20 31 21
+f 21 31 22
+f 22 31 47
+f 22 47 32
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 26
+f 26 36 37
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+f 26 38 39
+f 26 39 40
+f 27 28 41
+f 28 42 41
+f 28 43 44
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+f 29 45 30
+f 30 45 46
+f 32 47 48
+f 32 48 45
+f 32 45 49
+f 32 49 33
+f 33 49 50
+f 33 50 34
+f 34 51 35
+f 34 50 51
+f 35 51 52
+f 35 52 36
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 52
+f 38 52 54
+f 38 54 55
+f 38 55 39
+f 39 55 40
+f 40 55 56
+f 40 56 44
+f 40 44 43
+f 41 42 57
+f 42 58 57
+f 42 44 56
+f 42 56 58
+f 45 59 49
+f 45 48 46
+f 49 59 60
+f 49 60 50
+f 50 61 51
+f 50 60 61
+f 51 54 52
+f 51 61 54
+f 54 61 55
+f 55 61 62
+f 55 62 56
+f 56 62 58
+f 57 58 60
+f 57 60 59
+f 58 62 60
+f 60 62 61
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_3.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775fc0a392e11153b2bf8551482b47ee9c384c4f
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01248440 -0.01443142 0.00262643
+v 0.01248440 -0.01443131 -0.02692407
+v -0.01760577 -0.01443142 0.00262643
+v 0.01248440 -0.05409716 0.00262628
+v 0.00776882 -0.01443131 -0.02692724
+v 0.01248440 -0.03742369 -0.02953641
+v -0.01760577 -0.01443131 -0.02692407
+v -0.01760577 -0.05409716 0.00262628
+v -0.01527596 -0.05410879 -0.00518508
+v 0.01248440 -0.05410492 -0.00282358
+v -0.00605687 -0.01443131 -0.02692724
+v 0.01248440 -0.03972292 -0.02979669
+v -0.01760577 -0.03972292 -0.02979034
+v -0.01760577 -0.05410492 -0.00292515
+v -0.01760577 -0.05410489 -0.00972399
+v 0.01248440 -0.05410490 -0.00744184
+v 0.01248440 -0.04202216 -0.02978717
+v 0.01007212 -0.04202216 -0.02979034
+v -0.00375062 -0.04202216 -0.02979034
+v -0.01760577 -0.04202216 -0.02978717
+v -0.01760577 -0.05410100 -0.01198709
+v 0.01248440 -0.05410100 -0.00970177
+v 0.01248440 -0.04212703 -0.02977130
+v 0.00776882 -0.04432528 -0.02941899
+v 0.00085598 -0.04432528 -0.02942216
+v -0.00836017 -0.04432528 -0.02942534
+v -0.01757926 -0.04432528 -0.02942851
+v -0.01760577 -0.04432528 -0.02942851
+v -0.01760577 -0.05408546 -0.01424068
+v 0.01248440 -0.05409323 -0.01196170
+v 0.01248440 -0.04432528 -0.02940947
+v 0.01007212 -0.04432528 -0.02941582
+v 0.00776882 -0.04557588 -0.02897463
+v 0.00315928 -0.04557977 -0.02897781
+v -0.00375062 -0.04558365 -0.02898098
+v -0.01760577 -0.04559142 -0.02898733
+v -0.01760577 -0.05403496 -0.01649426
+v 0.01248440 -0.05406992 -0.01421528
+v 0.01248440 -0.04437966 -0.02939042
+v 0.01248440 -0.04556812 -0.02896828
+v 0.01248440 -0.04562249 -0.02892385
+v 0.01248440 -0.04677600 -0.02787958
+v -0.01757926 -0.04674105 -0.02795893
+v -0.01760577 -0.04674105 -0.02795893
+v -0.01760577 -0.05379415 -0.01873197
+v 0.01007212 -0.05401554 -0.01647521
+v 0.01248440 -0.05399612 -0.01637047
+v 0.01248440 -0.04793727 -0.02680041
+v -0.01760577 -0.04795669 -0.02684167
+v -0.01760577 -0.05301737 -0.02099189
+v 0.00776882 -0.05375919 -0.01873197
+v 0.01007212 -0.05375531 -0.01873197
+v 0.01248440 -0.05373589 -0.01873197
+v 0.01248440 -0.05374754 -0.01863040
+v 0.01248440 -0.05399223 -0.01647521
+v 0.01248440 -0.04908690 -0.02565140
+v -0.01760577 -0.05026371 -0.02457539
+v -0.01760577 -0.04911797 -0.02570536
+v -0.01760577 -0.05240760 -0.02216947
+v 0.01248440 -0.05239595 -0.02207107
+v 0.01248440 -0.05295134 -0.02099824
+v 0.01237837 -0.05295522 -0.02098872
+v 0.01248440 -0.05299407 -0.02088397
+v 0.01248440 -0.04913739 -0.02560061
+v 0.01248440 -0.05020934 -0.02452144
+v 0.01248440 -0.05027925 -0.02444526
+v 0.01248440 -0.05136672 -0.02324230
+v -0.01760577 -0.05141333 -0.02329943
+v -0.01760577 -0.05239983 -0.02218216
+v 0.01248440 -0.05236876 -0.02211868
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
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+f 1 8 4
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+f 1 10 16
+f 1 16 22
+f 1 22 30
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+f 1 38 47
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+f 1 40 39
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+f 1 23 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 20
+f 3 20 28
+f 3 28 36
+f 3 36 44
+f 3 44 49
+f 3 49 58
+f 3 58 57
+f 3 57 68
+f 3 68 69
+f 3 69 59
+f 3 59 50
+f 3 50 45
+f 3 45 37
+f 3 37 29
+f 3 29 21
+f 3 21 15
+f 3 15 14
+f 3 14 8
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 11 13
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 15
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 15 21 16
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 21 29 30
+f 21 30 22
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 26
+f 26 36 27
+f 27 36 28
+f 29 37 38
+f 29 38 30
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 34 43 35
+f 35 43 36
+f 36 43 44
+f 37 45 46
+f 37 46 38
+f 38 46 47
+f 42 48 49
+f 42 49 43
+f 43 49 44
+f 45 50 51
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 52
+f 50 52 51
+f 52 63 53
+f 56 64 57
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 59 69 70
+f 59 70 60
+f 61 63 62
+f 67 70 68
+f 68 70 69
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_30.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..283aa34ea37a04ec5258ada7e6d9a7fb28df3860
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05422744 0.00140306 -0.02202541
+v 0.05422744 0.00167055 -0.02202683
+v 0.05951409 0.00140305 -0.01982937
+v 0.05422744 0.00140301 -0.00747773
+v 0.05422744 0.00396986 -0.02201401
+v 0.05950751 0.00396985 -0.01982652
+v 0.05951574 0.00167054 -0.01982937
+v 0.06077812 0.00167054 -0.01892931
+v 0.06077812 0.00140305 -0.01892646
+v 0.05775434 0.00140301 -0.00747773
+v 0.05422744 0.01060388 -0.00747770
+v 0.05422744 0.00626918 -0.02199122
+v 0.05947539 0.00626917 -0.01981654
+v 0.06077812 0.00396985 -0.01891507
+v 0.06206273 0.00167054 -0.01783414
+v 0.06206190 0.00140305 -0.01783271
+v 0.05784575 0.00140751 -0.00747773
+v 0.06233611 0.00140303 -0.01246510
+v 0.05422744 0.01060393 -0.02190290
+v 0.06247940 0.01060388 -0.00747770
+v 0.05422744 0.00856850 -0.02195275
+v 0.05941281 0.00856849 -0.01979659
+v 0.06077812 0.00626917 -0.01885524
+v 0.06205614 0.00396985 -0.01782274
+v 0.06236494 0.00167053 -0.01647550
+v 0.06236247 0.00140304 -0.01647550
+v 0.06260292 0.00140303 -0.01401457
+v 0.05932881 0.01060392 -0.01976810
+v 0.06263668 0.00140303 -0.01421822
+v 0.06263833 0.00167052 -0.01421822
+v 0.06262844 0.00396983 -0.01421822
+v 0.06258480 0.00626915 -0.01421821
+v 0.06249257 0.00856847 -0.01421820
+v 0.06235835 0.01060390 -0.01421819
+v 0.05948692 0.01060392 -0.01964562
+v 0.06077812 0.00856849 -0.01873276
+v 0.06202649 0.00626917 -0.01777289
+v 0.06234929 0.00396984 -0.01647550
+v 0.06239458 0.00140304 -0.01621346
+v 0.06229330 0.00626916 -0.01647549
+v 0.06218377 0.00856848 -0.01647548
+v 0.06204790 0.01060391 -0.01641566
+v 0.06096175 0.01060392 -0.01843510
+v 0.06098481 0.01060392 -0.01841516
+v 0.06196803 0.00856848 -0.01767176
+v 0.06193097 0.00972669 -0.01760624
+v 0.06203390 0.01060391 -0.01650823
+v 0.06100704 0.01060392 -0.01839380
+v 0.06188979 0.01060391 -0.01737411
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 39
+f 1 39 29
+f 1 29 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 20
+f 4 20 11
+f 5 12 6
+f 6 13 14
+f 6 14 8
+f 6 8 7
+f 6 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 18 17
+f 11 20 34
+f 11 34 42
+f 11 42 47
+f 11 47 49
+f 11 49 48
+f 11 48 44
+f 11 44 43
+f 11 43 35
+f 11 35 28
+f 11 28 19
+f 12 21 13
+f 13 22 23
+f 13 23 14
+f 13 21 22
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 18 20
+f 18 27 20
+f 19 28 22
+f 19 22 21
+f 20 27 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 22 28 23
+f 23 28 35
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 25
+f 25 38 31
+f 25 31 30
+f 25 30 29
+f 25 29 39
+f 25 39 26
+f 31 38 32
+f 32 38 40
+f 32 40 33
+f 33 40 41
+f 33 41 34
+f 34 41 42
+f 35 43 36
+f 36 43 44
+f 36 44 37
+f 37 45 40
+f 37 40 38
+f 37 44 45
+f 40 45 46
+f 40 46 41
+f 41 46 42
+f 42 46 47
+f 44 48 46
+f 44 46 45
+f 46 49 47
+f 46 48 49
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_31.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372acb27919c7d88c14c04fe643ae4d189ceece7
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_31.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00471466 0.01392558 0.02760619
+v -0.00693491 0.01392556 0.03234000
+v -0.00471466 0.00682762 0.02722626
+v -0.00471466 0.01392578 -0.02692612
+v -0.00748997 0.01392556 0.03294304
+v -0.00905609 0.00682760 0.03233395
+v -0.00471466 0.00682782 -0.02770406
+v -0.00471466 0.00856982 -0.02752918
+v -0.02064405 0.01392578 -0.02692612
+v -0.00827218 0.01392556 0.03321440
+v -0.00986734 0.01392556 0.03376316
+v -0.01066833 0.00682760 0.03258120
+v -0.00605876 0.00682782 -0.02768597
+v -0.02215894 0.01392578 -0.02692009
+v -0.01066833 0.01392556 0.03387171
+v -0.01066833 0.00856960 0.03290080
+v -0.01471600 0.00682760 0.03258120
+v -0.01215419 0.01392556 0.03390186
+v -0.02215894 0.00853925 -0.02692614
+v -0.02215894 0.01086910 -0.02692613
+v -0.02215894 0.00682782 -0.02692011
+v -0.02215894 0.01392558 0.02624937
+v -0.01527619 0.00682760 0.03257517
+v -0.01527619 0.01392556 0.03389583
+v -0.02215894 0.00682762 0.02626744
+v -0.01941780 0.01392556 0.03290082
+v -0.01763306 0.00682760 0.03243647
+v -0.01762111 0.01392556 0.03380538
+v -0.01886957 0.00682760 0.03219526
+v -0.01886786 0.00683177 0.03220129
+v -0.01904548 0.00856960 0.03236410
+v -0.01924359 0.01086888 0.03259327
+v -0.01938876 0.01316816 0.03281640
+v -0.01887298 0.01392556 0.03322646
+v -0.01886103 0.00682760 0.03220129
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 22
+f 1 22 26
+f 1 26 34
+f 1 34 28
+f 1 28 24
+f 1 24 18
+f 1 18 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 12
+f 3 12 17
+f 3 17 23
+f 3 23 27
+f 3 27 35
+f 3 35 29
+f 3 29 25
+f 3 25 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 9
+f 11 15 16
+f 11 16 12
+f 12 16 18
+f 12 18 17
+f 13 19 20
+f 13 20 14
+f 13 21 19
+f 14 20 19
+f 14 19 21
+f 14 21 25
+f 14 25 22
+f 15 18 16
+f 17 18 24
+f 17 24 23
+f 22 25 26
+f 23 24 28
+f 23 28 27
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 27 30 35
+f 27 28 30
+f 28 34 30
+f 29 35 30
+f 30 34 31
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_32.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4d438f0dfc68dcf20d206bc016625ded18a9a4
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_32.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05422742 -0.01443138 -0.00744264
+v 0.05422742 0.00140301 -0.00744258
+v 0.05932226 -0.01443138 -0.00744264
+v 0.05422742 -0.01443144 0.00835677
+v 0.05783289 0.00140301 -0.00744258
+v 0.05422742 0.00140295 0.00835683
+v 0.06157294 -0.01442983 -0.00744264
+v 0.06157294 -0.01443138 -0.00743954
+v 0.05937902 -0.01443144 0.00835677
+v 0.06222642 -0.00590815 -0.00744261
+v 0.05783694 0.00140295 0.00835683
+v 0.06188184 -0.01300852 -0.00744264
+v 0.06157376 -0.01442828 -0.00743954
+v 0.06158430 -0.01443139 -0.00518160
+v 0.06157862 -0.01442989 0.00835677
+v 0.06158511 -0.01443143 0.00611120
+v 0.06250857 -0.00752788 -0.00292209
+v 0.06250776 -0.00752787 -0.00518158
+v 0.06250533 -0.00752786 -0.00744262
+v 0.06222804 -0.00590511 0.00835680
+v 0.06208778 -0.01185845 -0.00744263
+v 0.06188671 -0.01303643 -0.00518160
+v 0.06189077 -0.01305659 -0.00292211
+v 0.06159240 -0.01442830 -0.00292211
+v 0.06159159 -0.01443140 -0.00292211
+v 0.06188428 -0.01302408 0.00835677
+v 0.06158592 -0.01442833 0.00611120
+v 0.06159159 -0.01443142 0.00385326
+v 0.06238128 -0.00982802 -0.00292210
+v 0.06250938 -0.00752792 0.00835679
+v 0.06236669 -0.00982800 -0.00744263
+v 0.06237479 -0.00982801 -0.00518159
+v 0.06209265 -0.01188636 -0.00518159
+v 0.06209589 -0.01190652 -0.00292210
+v 0.06209589 -0.01190344 0.00385327
+v 0.06188996 -0.01305351 0.00385326
+v 0.06209102 -0.01187401 0.00835678
+v 0.06188752 -0.01304112 0.00611120
+v 0.06237885 -0.00982804 0.00385327
+v 0.06237155 -0.00982806 0.00835678
+v 0.06237641 -0.00982805 0.00611121
+v 0.06209427 -0.01189105 0.00611121
+f 1 2 5
+f 1 5 10
+f 1 10 19
+f 1 19 31
+f 1 31 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 25
+f 1 25 28
+f 1 28 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 4 9 15
+f 4 15 26
+f 4 26 37
+f 4 37 40
+f 4 40 30
+f 4 30 20
+f 4 20 11
+f 4 11 6
+f 5 11 10
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 16 15
+f 10 17 18
+f 10 18 19
+f 10 11 20
+f 10 20 17
+f 12 21 33
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+f 12 22 14
+f 12 14 13
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 16 27
+f 15 27 26
+f 16 28 27
+f 17 29 18
+f 17 20 30
+f 17 30 29
+f 18 29 19
+f 19 29 32
+f 19 32 31
+f 21 31 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 28
+f 23 28 24
+f 24 28 25
+f 26 27 38
+f 26 38 42
+f 26 42 37
+f 27 28 38
+f 28 36 38
+f 29 34 33
+f 29 33 32
+f 29 30 39
+f 29 39 35
+f 29 35 34
+f 30 40 41
+f 30 41 39
+f 31 32 33
+f 35 39 41
+f 35 41 42
+f 35 42 36
+f 36 42 38
+f 37 42 40
+f 40 42 41
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_33.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5bccad9f363c2be8e48b95c90df04a357abe8f
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05678351 -0.05663188 -0.02236292
+v -0.05678351 -0.05663188 -0.02136292
+v -0.05678351 -0.03858077 -0.02236292
+v -0.05678351 -0.03858077 -0.02136292
+v -0.01760960 -0.05663188 -0.02236292
+v -0.01760960 -0.05663188 -0.02136292
+v -0.01760960 -0.03858077 -0.02236292
+v -0.01760960 -0.03858077 -0.02136292
+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/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_34.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c66727b12a2acd186e831ffcbeea9a54f84ed51
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_34.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.07060663 -0.03702301 -0.01647538
+v -0.07059871 -0.03702301 -0.01608063
+v -0.07049310 -0.03512564 -0.01421823
+v -0.07053271 -0.03512563 -0.01647537
+v -0.07013403 -0.03512562 -0.01873452
+v -0.07018816 -0.03702300 -0.01873453
+v -0.07056043 -0.03702302 -0.01421824
+v -0.07046274 -0.03702302 -0.01391864
+v -0.06993469 -0.03512564 -0.01251171
+v -0.06715845 -0.01443358 -0.01117861
+v -0.06975251 -0.03280586 -0.01882055
+v -0.06715845 -0.01443358 -0.01195899
+v -0.06715713 -0.01443357 -0.01421815
+v -0.06714393 -0.01443356 -0.01551676
+v -0.06706076 -0.01443356 -0.01664533
+v -0.06951225 -0.03355774 -0.01996329
+v -0.06959673 -0.03512562 -0.02006553
+v -0.06961257 -0.03702300 -0.02007971
+v -0.06996769 -0.03702302 -0.01248541
+v -0.06713864 -0.01561005 -0.01117862
+v -0.05712015 -0.01443358 -0.01117861
+v -0.06967858 -0.03702302 -0.01234674
+v -0.06828452 -0.03702303 -0.01169592
+v -0.06936439 -0.03202524 -0.01963130
+v -0.06646934 -0.01443355 -0.01873444
+v -0.06538815 -0.01443354 -0.02051991
+v -0.06447198 -0.01443354 -0.02151892
+v -0.06847198 -0.03280585 -0.02058881
+v -0.06828452 -0.03512561 -0.02090563
+v -0.06828452 -0.03702299 -0.02091677
+v -0.06704492 -0.01600589 -0.01117862
+v -0.05712015 -0.01443354 -0.02151892
+v -0.05712015 -0.02879441 -0.01117867
+v -0.06788056 -0.03702303 -0.01166859
+v -0.06686538 -0.01675998 -0.01117862
+v -0.06597957 -0.03280143 -0.02151899
+v -0.06597957 -0.03052590 -0.02147242
+v -0.06598089 -0.03282575 -0.02151899
+v -0.06597957 -0.03702299 -0.02142184
+v -0.06597957 -0.03284566 -0.02151899
+v -0.06597957 -0.03512561 -0.02146637
+v -0.05712015 -0.02736802 -0.02151897
+v -0.05883369 -0.02813320 -0.01117866
+v -0.06597957 -0.03702303 -0.01162000
+v -0.06558881 -0.03702303 -0.01176980
+v -0.06396637 -0.03702302 -0.01242974
+v -0.05712015 -0.02912391 -0.01137705
+v -0.06020663 -0.02712481 -0.01117866
+v -0.06256834 -0.02475861 -0.01117865
+v -0.06361917 -0.02323274 -0.01117865
+v -0.06535911 -0.02035792 -0.01117863
+v -0.06404953 -0.03702299 -0.02058478
+v -0.05712015 -0.02822604 -0.02130540
+v -0.06302379 -0.03702302 -0.01421824
+v -0.05712015 -0.02990674 -0.01233052
+v -0.06305943 -0.03702300 -0.01875377
+v -0.05712015 -0.02980499 -0.02036207
+v -0.06286273 -0.03702301 -0.01647538
+v -0.05712015 -0.03054362 -0.01424250
+v -0.05712015 -0.03004606 -0.01260886
+v -0.06288254 -0.03702301 -0.01688530
+v -0.05712015 -0.03043966 -0.01870414
+v -0.05712015 -0.03062322 -0.01647535
+v -0.05712015 -0.03060332 -0.01676584
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 18
+f 1 18 30
+f 1 30 39
+f 1 39 52
+f 1 52 56
+f 1 56 61
+f 1 61 58
+f 1 58 54
+f 1 54 46
+f 1 46 45
+f 1 45 44
+f 1 44 34
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_35.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f0b2e88b30362322851ed8b414bb49e8e232f5
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_35.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_36.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c14d9cea1d710177805831f3883c72160669106
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_36.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_37.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14126a69249eb383609cc9c3a815877da7ce1bf9
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00460458 0.00682762 0.02720255
+v -0.00905546 0.00682760 0.03233356
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+v -0.00938197 0.00477723 0.03214395
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+v -0.01527639 -0.00126610 0.03113669
+v -0.01066912 -0.00126610 0.03113669
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_38.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c2d0ef14208c46cbb253e172b79a9a5453010e
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05456365 -0.03858077 -0.02236284
+v -0.05456365 -0.03858077 -0.02136284
+v -0.05456365 -0.01443369 -0.02236284
+v -0.05456365 -0.01443369 -0.02136284
+v -0.01760577 -0.03858077 -0.02236284
+v -0.01760577 -0.03858077 -0.02136284
+v -0.01760577 -0.01443369 -0.02236284
+v -0.01760577 -0.01443369 -0.02136284
+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/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_39.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3766464197e05aee1a7e2acd95432844bdb89beb
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_39.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.05046927 -0.04437768 -0.01117872
+v -0.05183513 -0.04694178 -0.01117873
+v -0.05046927 -0.05217567 -0.01117875
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+v -0.05864357 -0.04412186 -0.01421826
+v -0.05265367 -0.04903390 -0.01117874
+v -0.05864357 -0.05274013 -0.01265651
+v -0.05676163 -0.05361205 -0.01421830
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_4.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0052da20c97f0eddc9b6633486e11247f86bdc3
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_4.obj
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+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_40.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ebde013ee96bf8f11a2c5d79f6fcf58ba7bdb49
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_40.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.05046927 -0.01443137 -0.01117861
+v -0.05046927 -0.01443133 -0.02151892
+v -0.05712015 -0.01443137 -0.01117861
+v -0.05046927 -0.03474158 -0.01117869
+v -0.05712015 -0.01443133 -0.02151892
+v -0.05046927 -0.03249479 -0.02151899
+v -0.05712015 -0.02879465 -0.01117867
+v -0.05712015 -0.02912272 -0.01137705
+v -0.05712015 -0.02990609 -0.01233052
+v -0.05712015 -0.03004527 -0.01260886
+v -0.05712015 -0.03054432 -0.01424250
+v -0.05712015 -0.03062186 -0.01647535
+v -0.05046927 -0.03463220 -0.01647537
+v -0.05712015 -0.02736703 -0.02151897
+v -0.05046927 -0.03273140 -0.02129834
+v -0.05712015 -0.02980467 -0.02036207
+v -0.05712015 -0.02822597 -0.02130540
+v -0.05712015 -0.03060197 -0.01676584
+v -0.05046927 -0.03446319 -0.01873452
+v -0.05046927 -0.03290239 -0.02110400
+v -0.05712015 -0.03043893 -0.01870414
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 13
+f 1 13 19
+f 1 19 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 14
+f 2 14 5
+f 3 5 14
+f 3 14 17
+f 3 17 16
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+f 6 16 17
+f 6 17 14
+f 12 18 13
+f 13 18 19
+f 15 20 16
+f 16 20 19
+f 16 19 21
+f 18 21 19
+
diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_41.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aadd67e18cf11cd27b807f80f3cdf526d6c6108
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06598190 -0.03284756 -0.02236283
+v -0.06598190 -0.03284756 -0.02136283
+v -0.06598190 -0.01443314 -0.02236283
+v -0.06598190 -0.01443314 -0.02136283
+v -0.05456365 -0.03284756 -0.02236283
+v -0.05456365 -0.03284756 -0.02136283
+v -0.05456365 -0.01443314 -0.02236283
+v -0.05456365 -0.01443314 -0.02136283
+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/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_5.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbacb69fb6dddeb08290769c17a5daf60227c14f
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_5.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
+v 0.06159117 -0.01443142 0.00385403
+v 0.06158032 -0.01443142 0.00262960
+v 0.06158574 -0.01443143 0.00611451
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_6.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b76207298c2917d3dca09818839ce6db4c19b63
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_6.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_7.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6929de10ead19d13b7c0acc315ca148291f173
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_7.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_8.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ed62dc1cdc39f5311c0f908fe5cee00f1195f3
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_9.obj b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc0fe037acdb420bc1468f86f3d8f872325c8a8
--- /dev/null
+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/mjcf/mesh/measuring_tape_037_collision_9.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/textures/material_0.png b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..061cb2c4947ec8bde86278ecca196e3bbfdb9f8e
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+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/video.mp4 b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/video.mp4
new file mode 100644
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+++ b/dataset/tools/repair_tools/f6ccc7c7cd9d55de8d80d2b9ab8ba6b8/video.mp4
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