diff --git a/.gitattributes b/.gitattributes
index 2e9be9ce10be99d8822920c33d609c7717975732..b15f53e230be18e43c7e7048214b364c7a020f0c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5150,3 +5150,5 @@ dataset/tools/repair_tools/c17cbbda96c45ed6975b9bbbe785b13a/mesh/hex_key_032.glb
 dataset/tools/repair_tools/c77c2787a76256c89bafaf0d3b06c1b5/c77c2787a76256c89bafaf0d3b06c1b5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/mesh/mini_hammer_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/c2dffb95aa5150bcabea091dbe8e7c7e/mini_hammer_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.urdf b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e9637485d242334bedcc922281e5048fd89331f7
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_003">
+   <link name="measuring_tape_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_003.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_003_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>c92541bb6cad54db801d3b8534c27061</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>blue measuring tape</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact blue and gray measuring tape with textured grip and hook</description>
+         <min_height>0.0407</min_height>
+         <max_height>0.0407</max_height>
+         <real_height>0.0407</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420205322</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.usd b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0d6be336f26b7a281bffc9d27e9d7684853a1839
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/measuring_tape_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f893d70c745e9102d7b371e4fdb46eb6e1e5581e2e441f6f9745daefd3071220
+size 5028697
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material.mtl b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb5931a86fd5cd42f68193c1a708940b0506e811
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material_0.png b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0907d1ce107d019182770fdcdefce4123b2db8f3
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ccfffa2b733768ae88279981175a2b6b1421a2921f6da953d31fbcf69fd643
+size 12533139
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.glb b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f8f14cd005c83d2efa79436b24906bde6a6bc267a1267249e0aaddfdf0803d
+size 16054508
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.mtl b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bfd25a95b45fc84a66667fb3b73d88940839c32c
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.mtl
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+newmtl measuring_tape_003_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/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00ca29b43e28503eebed7c8e2900fb12577549d
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_003_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_collision.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510e6a2367b335fda547d664d929dae20bbec0e2
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_collision.obj
@@ -0,0 +1,14200 @@
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_geometry_Looks_material_0.png b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0907d1ce107d019182770fdcdefce4123b2db8f3
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mesh/measuring_tape_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ccfffa2b733768ae88279981175a2b6b1421a2921f6da953d31fbcf69fd643
+size 12533139
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/measuring_tape_003.xml b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/measuring_tape_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..60fd12da2a76ff12c975ac7407afe177cdf1533b
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/measuring_tape_003.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/measuring_tape_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/measuring_tape_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/measuring_tape_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/measuring_tape_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/measuring_tape_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/measuring_tape_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/measuring_tape_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/measuring_tape_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/measuring_tape_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/measuring_tape_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/measuring_tape_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/measuring_tape_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/measuring_tape_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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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" />
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+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0907d1ce107d019182770fdcdefce4123b2db8f3
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ccfffa2b733768ae88279981175a2b6b1421a2921f6da953d31fbcf69fd643
+size 12533139
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436e084b917c391efa611827cce68d1e439157ff
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003.obj
@@ -0,0 +1,119608 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_003_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedbe55c2afd243abd59321f40305d1251b65852
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision.obj
@@ -0,0 +1,14200 @@
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_0.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd226766572cf3f68a6208457d3a76973c62806
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_0.obj
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_1.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678642bb6b2fae214a015b98be197392d1bcfc0b
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_1.obj
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_10.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f5f4f8c3b53ca6bc08f2e0ee7baf2a864d23e9
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_10.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_11.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f553881dfcf303d0237d08d9f1a49b8652b0f
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_11.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_12.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c7613955e8e0c15bf47126be694dce483ef0b4
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_12.obj
@@ -0,0 +1,85 @@
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_13.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b82755df810fc7fdfb735a1074dc5863412d64
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_14.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7adbf19967aeec333a4463fa08e1322ea3c675e3
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_14.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_15.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cebd70b464e387657630de166169a47ff6aa835
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_15.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_16.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfefdb723684f10729bdff90d9c301f52ebb678
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_16.obj
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_17.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcebd53fff4cf333323e2520a087878d959583f5
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_17.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_18.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fbf04be8cd011fbae310e085eb89b36a0912612
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_18.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_19.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7045479d62f452d5b4268531f3539ac97a7f548
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_19.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_2.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c1624523c6a007d2e04f4cd09310ca37e921f0
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_2.obj
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_20.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0830cb2e35ce3978abb0b77d039b73a6358a906
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_21.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c063e6526cf2fed11223fe56f5591e9349413459
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_21.obj
@@ -0,0 +1,283 @@
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_22.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e82c488117adcb23fda04d071a4bf6ee761418
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_23.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..000d605dfe77e1cb2655287a53576e5b30ff04a0
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_24.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda0f4d3a7168069cc26dbdd29df2fffc6900730
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_24.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_25.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f662122ef37a0658cf564e17001a538dcf95e2d7
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_25.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04403809 0.03991103 -0.01194284
+v -0.04403809 0.03979557 -0.01034001
+v -0.04251138 0.03960210 -0.01036341
+v -0.04239548 0.03965765 -0.01195333
+v -0.04294737 0.03938367 -0.01284088
+v -0.04403809 0.03941113 -0.01287356
+v -0.04509888 0.03933624 -0.01282031
+v -0.04566229 0.03952783 -0.01194002
+v -0.04663941 0.03935121 -0.01140346
+v -0.04663941 0.03935121 -0.01092903
+v -0.04403809 0.03929565 -0.00950815
+v -0.04314003 0.03929066 -0.00951420
+v -0.04555329 0.03949163 -0.01037269
+v -0.04491697 0.03927568 -0.00952227
+v -0.04204239 0.03896551 -0.00984461
+v -0.04136616 0.03941112 -0.01091330
+v -0.04136616 0.03941112 -0.01142565
+v -0.04184896 0.03908160 -0.01249474
+v -0.04403809 0.03843565 -0.01317210
+v -0.04078357 0.03799253 -0.01291834
+v -0.04078357 0.03796445 -0.01293690
+v -0.04239548 0.03849432 -0.01304099
+v -0.04566229 0.03849369 -0.01301517
+v -0.04682516 0.03798442 -0.01292439
+v -0.04619652 0.03908035 -0.01247255
+v -0.04728110 0.03839445 -0.01188516
+v -0.04821525 0.03770793 -0.01129817
+v -0.04821525 0.03770793 -0.01098632
+v -0.04727573 0.03836512 -0.01042313
+v -0.04681288 0.03792698 -0.00937018
+v -0.04601537 0.03902230 -0.00985994
+v -0.04403809 0.03843563 -0.00926085
+v -0.04251138 0.03842502 -0.00935969
+v -0.04078357 0.03782151 -0.00944199
+v -0.04555329 0.03845935 -0.00931935
+v -0.04078357 0.03855547 -0.01028395
+v -0.04078740 0.03862599 -0.01036342
+v -0.04078357 0.03862350 -0.01036786
+v -0.04078357 0.03873708 -0.01195657
+v -0.04078357 0.03683419 -0.01313579
+v -0.04078357 0.03679112 -0.01313539
+v -0.04566612 0.03676179 -0.01306842
+v -0.04711147 0.03679237 -0.01300266
+v -0.04793508 0.03679237 -0.01242858
+v -0.04838027 0.03679236 -0.01162696
+v -0.04862436 0.03514908 -0.01034003
+v -0.04835494 0.03668439 -0.01040700
+v -0.04818838 0.03606402 -0.00950695
+v -0.04791128 0.03715934 -0.00991723
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+v -0.04078357 0.03679235 -0.00930886
+v -0.04564540 0.03353513 -0.00905068
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+v -0.04627711 0.03353577 -0.01286027
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+v -0.04724963 0.03514909 -0.01294861
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+v -0.04854070 0.03514908 -0.01189525
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+v -0.04855528 0.03353576 -0.01034004
+v -0.04822599 0.03353575 -0.00947025
+v -0.04823981 0.03514907 -0.00945854
+v -0.04733176 0.03353575 -0.00907287
+v -0.04078357 0.03555974 -0.00940690
+v -0.04848466 0.03353576 -0.01174761
+v -0.04447331 0.03353514 -0.01048366
+v -0.04078357 0.03470909 -0.01020650
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+v -0.04546885 0.03353576 -0.01221236
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+v -0.04781841 0.03353577 -0.01254922
+v -0.04545350 0.03353576 -0.01219945
+v -0.04462836 0.03353576 -0.01139864
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_26.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdbb32597be0f545073de2bd426529d2aa9a0e1f
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_26.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03363375 0.03166087 -0.00897008
+v -0.03739272 0.03166087 -0.00897008
+v -0.03363375 0.02680683 -0.00897010
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+v -0.03777555 0.03166088 -0.01205570
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+f 22 28 29
+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_27.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db17a44d0a3c5508a077012e1da74a8455bab1a
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_27.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03544336 0.03217140 0.00088911
+v -0.03493804 0.03265795 0.00088911
+v -0.03363375 0.03217140 0.00088911
+v -0.03548672 0.03217140 0.00120478
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+f 14 22 23
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+f 20 24 25
+f 20 25 21
+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_28.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ff82201bf2ad9929db281b0a7ba61fca0ff658
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_28.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04078356 0.03873644 -0.01195705
+v -0.04078356 0.03799253 -0.01291799
+v -0.04078356 0.03862354 -0.01036795
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+v -0.03363375 0.03380675 -0.01185228
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+v -0.03861188 0.03229813 -0.01161388
+v -0.04029086 0.03399031 -0.01167578
+f 1 2 7
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_29.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eac3f0aa6222d28c9e8800685971094b0083fa
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_29.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_3.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32020d283352c8bec470743b5f9112388c007c6
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_3.obj
@@ -0,0 +1,1549 @@
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_30.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3272d1abd8215765fd73310408cc8d8c8fe81c1a
--- /dev/null
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_31.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3e0357f710ddc62e9e3bdb0d34f7d01ab639122
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_31.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_4.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304ec44527ffe86ec194169b2e5e1230d670b6f3
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_4.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_5.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b51fefd6b6da4f2ed6e79a6285036840f774c2
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_5.obj
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_6.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c2fafec26c80264260f88d8e2bd2b15a0615a0
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_7.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307a1a6c6088432ac059030931f067bd0f97387a
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.03363476 0.02680680 0.00088909
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+
diff --git a/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_8.obj b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd57e4dcba82fb8ef2d79eb6301e356b3f16ae74
--- /dev/null
+++ b/dataset/tools/repair_tools/c92541bb6cad54db801d3b8534c27061/mjcf/mesh/measuring_tape_003_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.04614171 0.03644691 0.00005850
+v 0.04796207 0.03595031 0.00005850
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+v 0.04732261 0.04103652 -0.00613399
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