diff --git a/.gitattributes b/.gitattributes
index 53d64f8f7289a15d215ce3e193d62170fc666e59..b3b7ebd2e60b855c97a00bb635e6b20529805a44 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5165,3 +5165,5 @@ dataset/tools/repair_tools/d8a2d3b747e557568b85834635d48a86/mesh/mini_hammer_009
 dataset/tools/repair_tools/d8a2d3b747e557568b85834635d48a86/mini_hammer_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/mesh/pliers_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/dac4fc27e8f2513c94192ace75b2bba3/pliers_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.urdf b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c445a3cb2cdf25b530330f8dbd945b411ab1ee1
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_012">
+   <link name="measuring_tape_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_012.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_012_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>d920d93656ba5eb5bbb6390e4c6d68da</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>retractable tape</name>
+         <color>gray,red</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact red and gray retractable measuring tape with metal hook</description>
+         <min_height>0.0570</min_height>
+         <max_height>0.0570</max_height>
+         <real_height>0.0570</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205301</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061633 -0.052281 -0.028528</min>
+            <max>0.078367 0.058557 0.028462</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Mask misses clear functional separation of lock/button and blade hook; current colors mostly merge distinct parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.usd b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b55610c35a0feec15d8ae9bb0e2eee1643909056
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/measuring_tape_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65cf3bfbf82ab89bcfe928be3c65c9da01f9126b026b299a440a9dc9017eb809
+size 5017196
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material.mtl b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..66188aaa22d59e9fa17f45dac2b3d1b04149e7f4
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material_0.png b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88693331aa8b4d7a511bb154b0864dd6bf99df9
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeccfcffd05149b91cabe488b9fc7ba1174fe551ca74c1bfbe69308be4b83a82
+size 13193311
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.glb b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ddb9e46174c1d8450b503673f2e4f74ce9e9a90
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3770aac35bcbe68c7118fb149fc27b315085337e586fbbf1fb395595e4fbf733
+size 16693712
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.mtl b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6296917e6731c8d588e92342883f86cd48e4709c
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_012_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/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f122a442571b13575aa915e1f203c8b743ed2f47
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012.obj
@@ -0,0 +1,122606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_012_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_collision.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079e02600e015dd059b80cd24b47f181fe9bb183
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_collision.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_geometry_Looks_material_0.png b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88693331aa8b4d7a511bb154b0864dd6bf99df9
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mesh/measuring_tape_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeccfcffd05149b91cabe488b9fc7ba1174fe551ca74c1bfbe69308be4b83a82
+size 13193311
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/measuring_tape_012.xml b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/measuring_tape_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b7b23198d9c64ccf77fc6995f05d14dceadc0ad
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/measuring_tape_012.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/measuring_tape_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/measuring_tape_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/measuring_tape_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/measuring_tape_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/measuring_tape_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/measuring_tape_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/measuring_tape_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/measuring_tape_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/measuring_tape_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/measuring_tape_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/measuring_tape_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/measuring_tape_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/measuring_tape_012_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/measuring_tape_012_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88693331aa8b4d7a511bb154b0864dd6bf99df9
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeccfcffd05149b91cabe488b9fc7ba1174fe551ca74c1bfbe69308be4b83a82
+size 13193311
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb94644819e4c322ef832140d515aeed94d142d
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012.obj
@@ -0,0 +1,122606 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_012_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f7c17c46588e986db5b7eb097ec6957fb60ad2
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision.obj
@@ -0,0 +1,16640 @@
+# https://github.com/mikedh/trimesh
+
+o measuring_tape_012_collision.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_0.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1167f16a68f38018dd228217546eb78c35852830
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_0.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_1.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5346fb521c1a50117f207ba0e71b6997f2249a
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_1.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_10.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4149a180cf6886fffa81dff900919581b8ea9b9
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_10.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_11.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcede993e31454c9a739c9731e9af84138d4dee6
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_11.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v 0.04643298 0.01331137 -0.02382051
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_12.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ba2c6f80779afaf2624392b0a6c66a63bba7086
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_12.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_13.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac4205949c6eb08a9321a31a39bc51a9f9c4578
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_13.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_14.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b4801557234c9b0adaa429072c5c015b0f03614
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_14.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_15.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0ba4953d1c71a84b1ddbdb964098136f718a8d
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_15.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_16.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c008c034bdf6e39d04505463ad4c3c7affdce16
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_16.obj
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_17.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e229d8f30d741396ab8e36cd772dca34551a59
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_17.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01863006 -0.00391251 0.00001670
+v 0.01863006 -0.00391261 0.02720404
+v 0.01863006 0.00436923 0.00001673
+v 0.05667332 -0.00391251 0.00001670
+v 0.01863006 0.00190042 0.02720965
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+v 0.01863006 0.00436919 0.00957244
+v 0.05440736 0.00436923 0.00001673
+v 0.05909196 0.00319442 0.01116971
+v 0.05922052 -0.00391254 0.00852900
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+v 0.03022102 -0.00265597 0.02859432
+v 0.03022102 -0.00035670 0.02859153
+v 0.02791087 -0.00265596 0.02856075
+v 0.01867426 0.00436913 0.02720966
+v 0.05891116 0.00436918 0.01234740
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+v 0.03022102 0.00194176 0.02858595
+v 0.03252716 -0.00265596 0.02857753
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+v 0.05885893 0.00436918 0.01456569
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+v 0.05907186 0.00299092 0.01311946
+v 0.05918436 0.00211126 0.01235019
+v 0.05915624 0.00159239 0.01456568
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+v 0.05878661 0.00436917 0.01681195
+v 0.05880268 0.00424107 0.01681195
+v 0.05904776 0.00274202 0.01456568
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+v 0.05908794 0.00088216 0.01795884
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+v 0.05913615 -0.00035666 0.01811270
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+v 0.05881072 -0.00391258 0.01968199
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+v 0.05926471 -0.00391258 0.01855746
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+v 0.05714339 0.00436915 0.02043451
+v 0.05765363 -0.00391259 0.02069184
+v 0.05715142 0.00424105 0.02044010
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+v 0.03945361 -0.00035669 0.02832019
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+v 0.04176377 0.00194177 0.02815236
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+v 0.04407795 0.00436913 0.02752297
+v 0.04406991 0.00424103 0.02753695
+v 0.04406991 0.00194177 0.02767401
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_18.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aadf05f223b4cd04928f8f71363ee447260de16
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05915068 0.01331125 0.00681053
+v 0.05914446 0.01331124 0.01007373
+v 0.05818453 0.00953117 0.01388637
+v 0.05914694 0.01331130 -0.00442197
+v 0.05906477 0.01331124 0.01075695
+v 0.05798906 0.00953116 0.01681036
+v 0.05803762 0.00953116 0.01613669
+v 0.05817333 0.00953127 -0.01238172
+v 0.05914570 0.01331130 -0.00564508
+v 0.05866761 0.01331123 0.01238617
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+v 0.05684861 0.00953115 0.01992067
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_19.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8847315dc08d8b2acb01714efba497d564c83702
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_19.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.03022107 -0.00035648 -0.02861734
+v 0.03022107 -0.00265575 -0.02861455
+v 0.02791091 -0.00391241 -0.02858372
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+v 0.03022107 0.00436934 -0.02860611
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+v 0.03483739 -0.00391241 -0.02856129
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+f 39 55 40
+f 41 56 57
+f 41 57 42
+f 42 57 43
+f 43 57 58
+f 43 58 44
+f 44 58 59
+f 44 59 45
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+f 45 60 46
+f 46 60 47
+f 47 60 48
+f 48 59 58
+f 48 58 49
+f 48 60 59
+f 49 58 61
+f 52 62 53
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+f 53 63 64
+f 53 64 54
+f 54 64 65
+f 54 65 55
+f 56 66 58
+f 56 58 57
+f 58 66 67
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+f 58 68 69
+f 58 69 61
+f 61 69 68
+f 61 68 70
+f 62 71 63
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+f 68 73 80
+f 68 80 70
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+f 73 79 74
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+f 74 79 75
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_2.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48aeac664cd1515b13a282f81cad984b4f9b03e
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_2.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.07283313 -0.03804582 0.00746662
+v 0.07283313 -0.03803694 0.00782846
+v 0.06485640 -0.03660730 0.00558145
+v 0.06485640 -0.03661712 -0.00564639
+v 0.07283313 -0.03804083 -0.00788980
+v 0.07283313 -0.03733644 0.00965213
+v 0.06373315 -0.03441207 0.01637509
+v 0.06544608 -0.03625409 0.00937714
+v 0.06474862 -0.03641097 0.00786465
+v 0.06373315 -0.03619094 0.00727486
+v 0.06373315 -0.03626000 0.00558145
+v 0.06373315 -0.03626983 -0.00564639
+v 0.06373315 -0.03621753 -0.00692368
+v 0.06373315 -0.03618496 -0.00731809
+v 0.06476109 -0.03640203 -0.00791874
+v 0.06373315 -0.03455402 -0.01616866
+v 0.07283313 -0.03715778 -0.01010787
+v 0.07283313 -0.03716674 0.01006100
+v 0.07283313 -0.03465378 0.01439946
+v 0.07283313 -0.03215366 0.01840502
+v 0.06373315 -0.03418415 0.01667542
+v 0.06373315 -0.03437446 -0.01640747
+v 0.07283313 -0.03212294 -0.01843013
+v 0.07283313 -0.03463987 -0.01444269
+v 0.07283313 -0.03017151 0.01847740
+v 0.07020896 -0.03159128 0.01808660
+v 0.06373315 -0.03258383 0.01718200
+v 0.06373315 -0.03258371 -0.01721436
+v 0.07027131 -0.03155759 -0.01812257
+v 0.07283313 -0.03131883 -0.01846994
+v 0.07283313 -0.02884744 0.01814450
+v 0.07228799 -0.02885829 0.01814089
+v 0.07162437 -0.03009948 0.01829648
+v 0.06373315 -0.03019814 0.01716754
+v 0.06373315 -0.03198099 0.01718924
+v 0.06373315 -0.03019802 -0.01722520
+v 0.07165733 -0.03014571 -0.01832158
+v 0.07283313 -0.03019406 -0.01848078
+v 0.07283313 -0.02864222 0.01773925
+v 0.06373315 -0.02839358 0.01638236
+v 0.06373315 -0.02862236 -0.01672225
+v 0.07234321 -0.02888183 -0.01818769
+v 0.07283313 -0.02926366 -0.01831795
+v 0.07283313 -0.02831366 0.01689979
+v 0.06716524 -0.02799692 0.00782850
+v 0.06716524 -0.02796731 0.00558148
+v 0.06485640 -0.02823962 0.00558148
+v 0.06485640 -0.02822577 -0.00564636
+v 0.06373315 -0.02838359 -0.01644724
+v 0.07283313 -0.02887986 -0.01818769
+v 0.07283313 -0.02834413 -0.01695381
+v 0.06947409 -0.02797027 0.00558148
+v 0.06947409 -0.02796924 -0.00564636
+v 0.06716524 -0.02796727 -0.00564636
+v 0.06716524 -0.02799982 -0.00788976
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 24
+f 1 24 23
+f 1 23 30
+f 1 30 38
+f 1 38 43
+f 1 43 50
+f 1 50 51
+f 1 51 44
+f 1 44 39
+f 1 39 31
+f 1 31 25
+f 1 25 20
+f 1 20 19
+f 1 19 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 27
+f 7 27 35
+f 7 35 34
+f 7 34 40
+f 7 40 49
+f 7 49 41
+f 7 41 36
+f 7 36 28
+f 7 28 22
+f 7 22 16
+f 7 16 14
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+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 14 16 15
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 27
+f 25 27 26
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 31 39 32
+f 32 34 33
+f 32 39 40
+f 32 40 34
+f 36 41 42
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+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 41 49 42
+f 42 50 43
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+f 42 51 50
+f 44 52 45
+f 44 51 53
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+f 45 52 46
+f 46 54 48
+f 46 48 47
+f 46 52 53
+f 46 53 54
+f 48 54 49
+f 49 54 55
+f 49 55 51
+f 51 55 53
+f 53 55 54
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_20.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e34b03e6912a459594d5e5cd271c319370a2ac
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.05891210 0.00436999 0.01234461
+v 0.05818154 0.00953117 0.01231999
+v 0.05818398 0.00953117 0.01389031
+v 0.05886079 0.00436999 0.01456460
+v 0.05456781 0.00437006 -0.00603423
+v 0.05556836 0.00953124 -0.00603421
+v 0.05803738 0.00953116 0.01613494
+v 0.05812656 0.00883953 0.01680924
+v 0.05849917 0.00654085 0.01680923
+v 0.05878627 0.00436998 0.01680923
+v 0.04643141 0.00437006 -0.00603423
+v 0.04643141 0.00953124 -0.00603421
+v 0.05798851 0.00953116 0.01680925
+v 0.05731414 0.00953115 0.01910930
+v 0.05783580 0.00654084 0.01905693
+v 0.05813023 0.00436997 0.01905693
+v 0.04643141 0.00436995 0.02542132
+v 0.04643141 0.00953113 0.02443913
+v 0.05684746 0.00953115 0.01992216
+v 0.05735568 0.00890217 0.01924169
+v 0.05685968 0.00817720 0.02024545
+v 0.05699162 0.00654084 0.02033782
+v 0.05714433 0.00436996 0.02043327
+v 0.05561845 0.00436996 0.02122766
+v 0.05561845 0.00654083 0.02105831
+v 0.05330947 0.00953114 0.02179115
+v 0.04643141 0.00504339 0.02530740
+v 0.04643141 0.00782404 0.02481168
+v 0.05650539 0.00953115 0.02024854
+v 0.05567709 0.00953114 0.02070116
+v 0.05580781 0.00890216 0.02071655
+v 0.05569542 0.00436996 0.02118763
+v 0.04643141 0.00643927 0.02506723
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 32
+f 1 32 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 26
+f 2 26 30
+f 2 30 29
+f 2 29 19
+f 2 19 14
+f 2 14 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 7 13 8
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+f 8 15 9
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+f 11 27 33
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+f 11 28 18
+f 11 18 12
+f 14 19 20
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+f 16 21 22
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+f 26 31 30
+f 26 28 33
+f 26 33 27
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_21.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beada60d692bff0a3c645e43852b23783f6a8f3d
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_21.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.05631128 -0.03945139 0.01271951
+v 0.05631128 -0.03457441 0.01163194
+v 0.06373315 -0.03458330 0.01163194
+v 0.05727316 -0.03945139 0.01276631
+v 0.05631128 -0.03945144 0.02747450
+v 0.05631128 -0.03002455 0.01163196
+v 0.06023726 -0.03945139 0.01303255
+v 0.05935384 -0.03945139 0.01294219
+v 0.05792846 -0.03945139 0.01281149
+v 0.06373315 -0.02978181 0.01163196
+v 0.06373315 -0.03456554 0.01459294
+v 0.06286426 -0.03945140 0.01682296
+v 0.06286426 -0.03945140 0.01681328
+v 0.06275602 -0.03945140 0.01647119
+v 0.06214867 -0.03945139 0.01457518
+v 0.06084461 -0.03945139 0.01335044
+v 0.05791829 -0.03945144 0.02768266
+v 0.05631128 -0.03944848 0.02787468
+v 0.05631128 -0.02433205 0.01165457
+v 0.05792846 -0.02433205 0.01167393
+v 0.06023726 -0.02433205 0.01192727
+v 0.06036222 -0.02433205 0.01200634
+v 0.06208183 -0.02433206 0.01335210
+v 0.06268991 -0.02433207 0.01552727
+v 0.06373315 -0.02866878 0.01481564
+v 0.06373315 -0.03441162 0.01637922
+v 0.06273713 -0.03945141 0.01905783
+v 0.05792846 -0.03945144 0.02768266
+v 0.05631128 -0.03714247 0.02800861
+v 0.05631128 -0.02433211 0.02805707
+v 0.06279525 -0.02433207 0.01681333
+v 0.06373315 -0.02853410 0.01524649
+v 0.06373315 -0.03418368 0.01667936
+v 0.06273568 -0.03945141 0.01906913
+v 0.05792846 -0.03714247 0.02781498
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+v 0.06274803 -0.02433208 0.01777343
+v 0.06373315 -0.02839349 0.01638571
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+v 0.06373315 -0.03258220 0.01718282
+v 0.06241820 -0.03945142 0.02131368
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+v 0.05971055 -0.02794802 0.02731479
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+v 0.06262379 -0.02433208 0.01905788
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+v 0.06210435 -0.02433209 0.02226415
+v 0.06183627 -0.02433210 0.02354860
+v 0.06373315 -0.03019774 0.01717153
+v 0.06373315 -0.03197980 0.01719089
+v 0.06205495 -0.03484384 0.02354856
+v 0.06201717 -0.03714246 0.02354855
+v 0.06194016 -0.03944255 0.02354855
+v 0.06193944 -0.03945143 0.02355016
+v 0.06082572 -0.03714247 0.02617715
+v 0.06088747 -0.03484385 0.02624170
+v 0.05973380 -0.03484385 0.02731315
+v 0.05792846 -0.03254376 0.02792150
+v 0.06151517 -0.03945143 0.02492820
+v 0.05631128 -0.03254376 0.02811352
+v 0.05631128 -0.03185699 0.02811513
+v 0.05975269 -0.03254376 0.02732768
+v 0.05974397 -0.03024663 0.02732930
+v 0.06089764 -0.03024663 0.02623688
+v 0.06086423 -0.02794802 0.02616750
+v 0.06080465 -0.02564792 0.02606747
+v 0.06075670 -0.02433211 0.02598840
+v 0.06147957 -0.02433210 0.02486532
+v 0.06151517 -0.02564791 0.02494600
+v 0.06189367 -0.02564791 0.02354860
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+v 0.06203025 -0.03024662 0.02354858
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+v 0.06159798 -0.03484384 0.02512023
+v 0.06157183 -0.03714246 0.02505406
+v 0.06151589 -0.03944255 0.02492820
+v 0.06090709 -0.03254376 0.02626269
+v 0.06159290 -0.03024662 0.02511380
+v 0.06155948 -0.02794801 0.02504442
+v 0.06117589 -0.02433210 0.02534457
+f 1 2 3
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+f 1 15 14
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+f 11 26 12
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+f 17 28 18
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+f 19 30 40
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+f 19 60 41
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+f 28 35 29
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+f 49 73 50
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+f 54 77 55
+f 55 74 78
+f 55 78 79
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+f 57 80 58
+f 58 80 81
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+f 59 82 83
+f 64 84 85
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+f 65 86 87
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+f 85 87 86
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+f 88 96 95
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+f 89 95 90
+f 90 94 91
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_22.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f387485dfabd3062867b23de6e22b299313bfb3
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_22.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05891026 0.00437009 -0.01240786
+v 0.05815897 0.00437008 -0.01071938
+v 0.05891026 0.00437009 -0.01267977
+v 0.05817363 0.00953127 -0.01238503
+v 0.05757136 0.00953126 -0.01026112
+v 0.05804902 0.00437008 -0.01047790
+v 0.05885773 0.00437009 -0.01475615
+v 0.05850957 0.00654097 -0.01687435
+v 0.05856332 0.00654096 -0.01463065
+v 0.05812720 0.00883965 -0.01687434
+v 0.05798916 0.00953128 -0.01687433
+v 0.05556791 0.00953124 -0.00603421
+v 0.05456740 0.00437006 -0.00603423
+v 0.05879665 0.00437010 -0.01687435
+v 0.05809788 0.00437011 -0.01911996
+v 0.05779981 0.00654098 -0.01911996
+v 0.05784989 0.00953128 -0.01744667
+v 0.04643263 0.00953124 -0.00603421
+v 0.04643263 0.00437006 -0.00603423
+v 0.05805024 0.00437011 -0.01919031
+v 0.05682862 0.00798990 -0.02028553
+v 0.05733804 0.00878964 -0.01928347
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+v 0.05499985 0.00953130 -0.02102138
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+f 1 20 15
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+f 1 14 7
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_23.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97512a07d36902bdb5d79cfabf9544ef0b9c32cb
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_23.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.05635736 -0.03945124 -0.02787626
+v 0.05635736 -0.03787788 -0.02797114
+v 0.05792839 -0.03945124 -0.02768650
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+v 0.05635736 -0.03557779 -0.02806601
+v 0.05792839 -0.03484365 -0.02790037
+v 0.05963011 -0.03714227 -0.02730698
+v 0.06078384 -0.03714227 -0.02623114
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_24.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9611edb480481abb4d24ea34aa6696ade7801973
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_24.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.06373315 -0.03627073 -0.00564637
+v 0.05635778 -0.03466958 -0.01168967
+v 0.06373315 -0.03621695 -0.00692490
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_25.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c830b510a5d77be3d09ebb67fa8aa67267bc85da
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00020032 -0.03024642 -0.02862884
+v 0.00250931 -0.03024642 -0.02862709
+v 0.00250931 -0.03254355 -0.02860271
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+f 40 56 41
+f 41 56 57
+f 41 57 69
+f 41 69 58
+f 41 58 42
+f 42 58 43
+f 43 58 59
+f 43 59 44
+f 45 54 46
+f 46 54 60
+f 46 60 61
+f 46 61 62
+f 47 63 64
+f 51 65 66
+f 51 66 52
+f 52 66 67
+f 52 67 68
+f 52 68 55
+f 55 68 67
+f 55 67 66
+f 55 66 65
+f 55 65 75
+f 55 75 78
+f 55 78 79
+f 55 79 76
+f 55 76 71
+f 55 71 70
+f 55 70 69
+f 55 69 57
+f 55 57 56
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 60 72 61
+f 61 72 62
+f 63 73 77
+f 63 77 79
+f 63 79 78
+f 63 78 74
+f 63 74 64
+f 74 78 75
+f 76 79 77
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_26.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb4256b09bfb0801cd444d3da866de46f69ea2a
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_26.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.01065588 -0.02920804 -0.01082452
+v -0.01065588 -0.02920808 0.00009041
+v -0.01065588 -0.02451954 -0.01082450
+v 0.05203996 -0.02920804 -0.01082452
+v -0.01065588 -0.02763542 0.00909810
+v 0.05193166 -0.02920808 0.00009041
+v -0.01065588 -0.02433201 0.00009043
+v -0.01064314 -0.02433197 -0.01082450
+v 0.05442243 -0.02433197 -0.01082450
+v 0.05422495 -0.02433251 0.00909811
+v -0.01065588 -0.02433251 0.00909811
+v 0.05190618 -0.02763542 0.00909810
+v 0.05419947 -0.02433201 0.00009043
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 12 10
+f 5 10 11
+f 6 10 12
+f 7 11 10
+f 7 10 13
+f 7 13 9
+f 7 9 8
+f 9 13 10
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_27.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fdbed9bff62cc9b47fc2b8e6cd57c4f4f0f673
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05635736 -0.02483723 -0.01218318
+v 0.05635736 -0.02483723 -0.01118318
+v 0.05635736 -0.02383723 -0.01218318
+v 0.05635736 -0.02383723 -0.01118318
+v 0.05796997 -0.02483723 -0.01218318
+v 0.05796997 -0.02483723 -0.01118318
+v 0.05796997 -0.02383723 -0.01218318
+v 0.05796997 -0.02383723 -0.01118318
+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/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_28.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c38b652cf926447c4aa72660b9b1968632ed1b0
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_28.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01065588 -0.03945282 0.00009192
+v -0.01065588 -0.03945285 0.00909806
+v -0.01065588 -0.03624559 0.00009193
+v 0.05253672 -0.03945282 0.00009192
+v -0.01065588 -0.03624562 0.00909807
+v 0.05254291 -0.03945285 0.00909806
+v 0.05131161 -0.03624559 0.00009193
+v 0.05255529 -0.03945283 0.00333699
+v 0.05130542 -0.03624562 0.00909807
+v 0.05254910 -0.03945284 0.00653710
+v 0.05131161 -0.03624562 0.00782773
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 8
+f 6 10 11
+f 6 11 9
+f 7 11 8
+f 8 11 10
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_29.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc3321ce6638548f3afebac2c173779f152e38b
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05288637 -0.03945138 0.01158743
+v 0.05288637 -0.03486747 0.00909996
+v 0.05631128 -0.03455368 0.00909996
+v 0.05631128 -0.03945139 0.01271913
+v 0.05288637 -0.03945144 0.02811665
+v 0.05288637 -0.02433204 0.00910000
+v 0.05631128 -0.03030280 0.00909998
+v 0.05631128 -0.03945144 0.02747453
+v 0.05331013 -0.03945144 0.02810158
+v 0.05288637 -0.03944404 0.02811853
+v 0.05423039 -0.02433204 0.00910000
+v 0.05288637 -0.02433211 0.02826546
+v 0.05631128 -0.02433205 0.01165526
+v 0.05631128 -0.03944848 0.02787373
+v 0.05561899 -0.03945144 0.02795659
+v 0.05561899 -0.03714247 0.02809028
+v 0.05331013 -0.03714247 0.02822398
+v 0.05288637 -0.03756430 0.02821833
+v 0.05561899 -0.03944256 0.02795847
+v 0.05288637 -0.02564792 0.02832759
+v 0.05331013 -0.02433211 0.02826546
+v 0.05631128 -0.02433211 0.02805644
+v 0.05631128 -0.03944256 0.02787562
+v 0.05631128 -0.03714247 0.02800931
+v 0.05561899 -0.03484385 0.02816938
+v 0.05331013 -0.03484385 0.02830872
+v 0.05288637 -0.03714247 0.02823716
+v 0.05288637 -0.03254376 0.02833322
+v 0.05331013 -0.03254376 0.02833510
+v 0.05331013 -0.02564792 0.02832571
+v 0.05463101 -0.02433211 0.02821650
+v 0.05561899 -0.02433211 0.02815436
+v 0.05631128 -0.02564792 0.02808657
+v 0.05631128 -0.03484385 0.02808653
+v 0.05561899 -0.03254376 0.02819575
+v 0.05631128 -0.03415412 0.02809594
+v 0.05288637 -0.03526569 0.02830496
+v 0.05288637 -0.03296559 0.02832945
+v 0.05561899 -0.02794802 0.02818636
+v 0.05561899 -0.02564792 0.02817883
+v 0.05631128 -0.02794802 0.02810350
+v 0.05631128 -0.03254376 0.02811290
+v 0.05631128 -0.03185699 0.02811667
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 27
+f 1 27 37
+f 1 37 38
+f 1 38 28
+f 1 28 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 3 7 13
+f 3 13 22
+f 3 22 33
+f 3 33 41
+f 3 41 43
+f 3 43 42
+f 3 42 36
+f 3 36 34
+f 3 34 24
+f 3 24 23
+f 3 23 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 6 12 21
+f 6 21 31
+f 6 31 32
+f 6 32 22
+f 6 22 13
+f 6 13 11
+f 7 11 13
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 15 19
+f 9 19 16
+f 12 20 21
+f 14 23 15
+f 15 23 19
+f 16 19 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 18
+f 19 23 24
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 24 34 25
+f 25 35 29
+f 25 29 26
+f 25 34 36
+f 25 36 35
+f 26 29 37
+f 26 37 27
+f 28 38 29
+f 29 38 37
+f 29 35 30
+f 30 35 39
+f 30 39 40
+f 30 40 32
+f 30 32 31
+f 32 40 33
+f 33 40 41
+f 35 36 42
+f 35 42 43
+f 35 43 39
+f 39 43 40
+f 40 43 41
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_3.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa335f3f5f372347859135e428edc13d82a2316
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_3.obj
@@ -0,0 +1,1222 @@
+# https://github.com/mikedh/trimesh
+v 0.03021891 0.00437015 -0.02860786
+v 0.02790890 0.00437014 -0.02854069
+v 0.02790890 0.00884088 -0.02859106
+v 0.02790890 0.01114143 -0.02857426
+v 0.02790890 0.01573789 -0.02854065
+v 0.03021891 0.00654497 -0.02859107
+v 0.03239957 0.00437014 -0.02854069
+v 0.02578684 0.01325571 -0.02841192
+v 0.02578684 0.01555627 -0.02852386
+v 0.02578684 0.00437014 -0.02790258
+v 0.02578684 0.01785683 -0.02852385
+v 0.03483690 0.00654496 -0.02839516
+v 0.03252891 0.00654496 -0.02850711
+v 0.02578684 0.02245329 -0.02844548
+v 0.02578684 0.02263957 -0.02843988
+v 0.03021891 0.01803845 -0.02833353
+v 0.03945288 0.01114143 -0.02802011
+v 0.03945288 0.00884087 -0.02809288
+v 0.03945288 0.00654496 -0.02816006
+v 0.03945288 0.00437014 -0.02821604
+v 0.03470756 0.00437014 -0.02844554
+v 0.02578684 0.00436994 0.02789273
+v 0.03483690 0.00437014 -0.02843994
+v 0.02578684 0.02475385 -0.02835031
+v 0.02790890 0.02263957 -0.02831114
+v 0.03714489 0.01573789 -0.02799770
+v 0.03945288 0.01344199 -0.02793614
+v 0.04176289 0.00654496 -0.02800893
+v 0.04176289 0.00437014 -0.02808170
+v 0.02790890 0.00436994 0.02851405
+v 0.02578684 0.01344179 0.02839094
+v 0.02578684 0.02953194 -0.02812639
+v 0.02790890 0.02493548 -0.02821037
+v 0.03483690 0.02263957 -0.02786334
+v 0.03483690 0.02033901 -0.02796410
+v 0.03714489 0.01803845 -0.02791373
+v 0.03714489 0.02033901 -0.02779058
+v 0.03945288 0.01573789 -0.02781298
+v 0.04176289 0.00884087 -0.02789138
+v 0.04391121 0.00654496 -0.02744919
+v 0.04428915 0.00437014 -0.02743800
+v 0.04343628 0.00437014 -0.02765629
+v 0.03021891 0.00436994 0.02857562
+v 0.02790890 0.00884067 0.02855324
+v 0.02578684 0.01573769 0.02849730
+v 0.02578684 0.03164622 -0.02802003
+v 0.02790890 0.02953194 -0.02798645
+v 0.03021891 0.02723604 -0.02794728
+v 0.03252891 0.02493548 -0.02790811
+v 0.03252891 0.02723604 -0.02778496
+v 0.03483690 0.02493548 -0.02770660
+v 0.03714489 0.02263957 -0.02753869
+v 0.03945288 0.01803845 -0.02758348
+v 0.04176289 0.01114143 -0.02772904
+v 0.04362625 0.00884087 -0.02736522
+v 0.04521477 0.00533414 -0.02697341
+v 0.04527539 0.00437014 -0.02701818
+v 0.04432552 0.00437014 -0.02742680
+v 0.03021891 0.00654476 0.02855883
+v 0.02790890 0.01114123 0.02855325
+v 0.03252891 0.00436994 0.02850845
+v 0.02578684 0.01803825 0.02849731
+v 0.02578684 0.03394213 -0.02789129
+v 0.02790890 0.03182784 -0.02786330
+v 0.03021891 0.02953194 -0.02782972
+v 0.02790890 0.03412841 -0.02766178
+v 0.03021891 0.03182784 -0.02761141
+v 0.03252891 0.02953194 -0.02752746
+v 0.03492381 0.02728261 -0.02735955
+v 0.03708224 0.02472126 -0.02722522
+v 0.03860204 0.02263957 -0.02713567
+v 0.03945692 0.02017136 -0.02728121
+v 0.04138698 0.01573789 -0.02733720
+v 0.04194276 0.01356307 -0.02740998
+v 0.04333321 0.01114143 -0.02724207
+v 0.04638897 0.00437013 -0.02551247
+v 0.04309271 0.01287849 -0.02710212
+v 0.04642939 0.02501928 -0.02222111
+v 0.04642939 0.02484697 -0.02225469
+v 0.03021891 0.00884067 0.02853085
+v 0.02790890 0.01573769 0.02849730
+v 0.02578684 0.02033881 0.02846932
+v 0.03483690 0.00436994 0.02841889
+v 0.02578684 0.03624269 -0.02768977
+v 0.02578684 0.03842682 -0.02729794
+v 0.03010977 0.03398870 -0.02723079
+v 0.03237734 0.03160897 -0.02716362
+v 0.03408711 0.02953194 -0.02714124
+v 0.03627182 0.02654680 -0.02713005
+v 0.03831101 0.02380848 -0.02698453
+v 0.04065740 0.01929584 -0.02701254
+v 0.04091002 0.01803845 -0.02715247
+v 0.04642939 0.00437013 -0.02545650
+v 0.04283200 0.01441064 -0.02692300
+v 0.04642939 0.02723602 -0.02178449
+v 0.04642939 0.02718479 -0.02179569
+v 0.02578684 0.02263937 0.02840776
+v 0.03496625 0.00436994 0.02841330
+v 0.03727423 0.00436994 0.02831254
+v 0.03958222 0.00436994 0.02820059
+v 0.03945288 0.00654476 0.02815022
+v 0.02578684 0.03852928 -0.02726995
+v 0.02926701 0.03549291 -0.02707965
+v 0.03150629 0.03312715 -0.02705167
+v 0.03369301 0.03069154 -0.02698451
+v 0.04632228 0.03164620 -0.02060342
+v 0.04642939 0.03157169 -0.02057543
+v 0.04642939 0.02948070 -0.02121915
+v 0.04642939 0.00436995 0.02541866
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+v 0.03945288 0.01114123 0.02801030
+v 0.04176289 0.00436994 0.02807745
+v 0.02699945 0.03784470 -0.02709643
+v 0.02578684 0.03970750 -0.02677177
+v 0.04122530 0.03824052 -0.02053623
+v 0.04340192 0.03586545 -0.02049146
+v 0.04413151 0.03413770 -0.02078252
+v 0.04551185 0.03337860 -0.02040191
+v 0.04642939 0.03273127 -0.02009964
+v 0.04642939 0.02493530 0.02223939
+v 0.04523295 0.00543639 0.02691878
+v 0.04530167 0.00436994 0.02698035
+v 0.02790890 0.02723584 0.02807753
+v 0.02578684 0.02953174 0.02809993
+v 0.03714489 0.01344179 0.02806629
+v 0.03714489 0.01573769 0.02798793
+v 0.03714489 0.01803825 0.02789838
+v 0.03252891 0.02263937 0.02799915
+v 0.04176289 0.00654476 0.02799909
+v 0.03945288 0.01344179 0.02792635
+v 0.04408098 0.00436994 0.02752330
+v 0.03896784 0.04050383 -0.02054182
+v 0.04050582 0.03977267 -0.02018917
+v 0.02578684 0.04809940 -0.02184599
+v 0.03409721 0.04475567 -0.02041866
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+v 0.03814529 0.04203597 -0.02016119
+v 0.04276328 0.03740225 -0.02015560
+v 0.04494193 0.03491075 -0.02006605
+v 0.04642939 0.03417495 -0.01923203
+v 0.04642939 0.02601107 0.02203229
+v 0.04506319 0.00696855 0.02677325
+v 0.04337767 0.01114123 0.02721546
+v 0.04368082 0.00884067 0.02733860
+v 0.04420426 0.00633985 0.02731620
+v 0.03021891 0.02723584 0.02793200
+v 0.02578684 0.03182764 0.02798799
+v 0.03714489 0.02033881 0.02777524
+v 0.03483690 0.02263937 0.02785361
+v 0.04176289 0.00884067 0.02789274
+v 0.03945288 0.01573769 0.02780321
+v 0.03978634 0.04133742 -0.01942232
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+v 0.04295326 0.03991238 -0.01803976
+v 0.04190234 0.03889715 -0.01973579
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+v 0.03252891 0.02723584 0.02776967
+v 0.04518041 0.03752332 -0.01759757
+v 0.04642939 0.03765837 -0.01409917
+v 0.02850105 0.04876069 -0.01989808
+v 0.02578684 0.05060486 -0.01906405
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+v 0.04642939 0.02953176 0.02119268
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+v 0.03947511 0.02020376 0.02724908
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_30.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991c872df40e84aca17fa1d5cf961cee9909baa6
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_30.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01065588 -0.03624475 0.00009193
+v -0.01065588 -0.03624478 0.00909807
+v -0.01065588 -0.02763566 0.00009196
+v 0.05130972 -0.03624475 0.00009193
+v -0.01065588 -0.02763569 0.00909810
+v 0.05130317 -0.03624478 0.00909807
+v 0.05189313 -0.02763566 0.00009196
+v 0.05631128 -0.03458024 0.00009193
+v 0.05631128 -0.03461733 0.00333700
+v 0.05131628 -0.03624476 0.00333700
+v 0.05190624 -0.02763569 0.00909810
+v 0.05130972 -0.03624478 0.00889708
+v 0.05631128 -0.03460724 0.00782773
+v 0.05631128 -0.03455330 0.00909807
+v 0.05631128 -0.03030227 0.00909809
+v 0.05631128 -0.03046153 0.00009195
+v 0.05631128 -0.03461733 0.00401052
+v 0.05131628 -0.03624477 0.00440282
+v 0.05631128 -0.03461650 0.00558236
+v 0.05631128 -0.03461397 0.00625588
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
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+f 2 14 15
+f 2 15 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
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+f 6 13 14
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+f 7 15 16
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+f 8 14 13
+f 8 13 20
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+f 8 19 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 12 18 17
+f 12 17 19
+f 12 19 20
+f 12 20 13
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_31.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a40e3feba3c9c6c897e2e9997be4a6dedbf67b1
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_31.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01065588 -0.03945177 -0.01082455
+v -0.01065588 -0.03945181 0.00009085
+v -0.01065588 -0.02920952 -0.01082452
+v 0.05279547 -0.03945177 -0.01082455
+v -0.01065588 -0.02920956 0.00009088
+v 0.05253309 -0.03945181 0.00009085
+v 0.05204767 -0.02920952 -0.01082452
+v 0.05635736 -0.03458034 -0.01082454
+v 0.05635736 -0.03460341 -0.00789210
+v 0.05635736 -0.03461846 -0.00564576
+v 0.05635736 -0.03461846 -0.00492868
+v 0.05635736 -0.03461647 -0.00340155
+v 0.05635736 -0.03458038 0.00009086
+v 0.05192960 -0.02920956 0.00009088
+v 0.05635736 -0.03014009 -0.01082452
+v 0.05635736 -0.03046202 0.00009088
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 16
+f 2 16 14
+f 2 14 5
+f 3 5 14
+f 3 14 7
+f 4 8 9
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+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 7 14 15
+f 8 15 16
+f 8 16 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 14 16 15
+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_32.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb5a93c5f9ed48e3fe594020c417963cf2d20b2
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01065588 -0.03945137 0.00909806
+v -0.01065588 -0.03945144 0.02758959
+v -0.01065588 -0.02433204 0.00909811
+v 0.05254428 -0.03945137 0.00909806
+v -0.01065588 -0.03904145 0.02772135
+v -0.00672491 -0.03945144 0.02782829
+v -0.00672491 -0.03944256 0.02783211
+v -0.01065588 -0.02433211 0.02738148
+v 0.05288637 -0.02433204 0.00909811
+v 0.05288637 -0.03486747 0.00909807
+v 0.05288637 -0.03945138 0.01158830
+v -0.01065588 -0.03714247 0.02829999
+v 0.03482385 -0.03945144 0.02821214
+v -0.01065588 -0.02794802 0.02841461
+v 0.01306673 -0.02433211 0.02852347
+v 0.05288637 -0.02433211 0.02826567
+v 0.05288637 -0.03945144 0.02811666
+v -0.01065588 -0.03484385 0.02849479
+v 0.03483007 -0.03944256 0.02821405
+v -0.00672491 -0.03714247 0.02832863
+v 0.04636794 -0.03945144 0.02824270
+v -0.01065588 -0.03024664 0.02860175
+v 0.01538052 -0.02433211 0.02858076
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+v 0.04638039 -0.03945144 0.02824270
+v -0.00672491 -0.03484385 0.02851198
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+v 0.05099553 -0.03714247 0.02829044
+v 0.05288637 -0.03526569 0.02830573
+v 0.02098463 -0.02433211 0.02857694
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+f 1 33 22
+f 1 22 14
+f 1 14 8
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+
diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_4.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d69a0550f774a8c3cdf1e1cff70e941800e868
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_4.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
+v -0.00673107 -0.00725288 -0.02865517
+v -0.00673107 -0.00265566 -0.02864955
+v 0.00943291 0.00437015 -0.02862709
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+v -0.00673107 -0.00960758 -0.02864958
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+v 0.01174205 -0.00035706 -0.02853741
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_5.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5943d23b381f37eca4aab1d421402c1464bc1e5
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_5.obj
@@ -0,0 +1,1042 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_6.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae60134f20f748dd12b3f80999e570ff77c6d9aa
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_6.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_7.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b967339611e094384eb92861af6c62b62f755064
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_7.obj
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_8.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c44549e6e990094b0b1c2648bd81b9c3d20555a
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_8.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_9.obj b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb19b15444c175994199145e50906ce268dbe51
--- /dev/null
+++ b/dataset/tools/repair_tools/d920d93656ba5eb5bbb6390e4c6d68da/mjcf/mesh/measuring_tape_012_collision_9.obj
@@ -0,0 +1,1504 @@
+# https://github.com/mikedh/trimesh
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