diff --git a/.gitattributes b/.gitattributes
index ec69ebfc3f328f164515d3804818b2ef640925a0..8565d681800527c53285b9df8c7e76ceb7586e96 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5162,3 +5162,5 @@ dataset/tools/repair_tools/ce82b34827ec5d058bc38159448fe917/mesh/wrench_029.glb
 dataset/tools/repair_tools/ce82b34827ec5d058bc38159448fe917/wrench_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/hex_key_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/ce6665124be25b1b9aa50a58e020c71f/mesh/hex_key_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.urdf b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7da5e81d2194697e483fbd5118786260da0a0dd8
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_013">
+   <link name="measuring_tape_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>d43f9ea20bf35d5e963facf0629a81a9</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact tape measure</name>
+         <color>red,yellow</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>red and yellow compact tape measure with metal belt clip</description>
+         <min_height>0.0633</min_height>
+         <max_height>0.0633</max_height>
+         <real_height>0.0633</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205329</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066263 -0.056396 -0.031654</min>
+            <max>0.073737 0.062579 0.031685</max>
+         </aabb>
+         <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/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.usd b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b9747d7a8339df5f2524e3983d0b9582d909f7bb
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/measuring_tape_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ab7851741068896aefa6122384348de92e97682f09f9d9cb702831b1586594
+size 5016877
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material.mtl b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..567a96fe62d3edd7b5e9d2cf7d89797dddbc4660
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material_0.png b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21af35b3ba3ad4111ccc57d6c01717b149d02a9b
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9cef3512fc6940b775ce371d0e1cd126ff47be658a9897e9b66bf8bf115d54
+size 12847833
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.glb b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dc97bba8b76774f78e8975e5ec6245cec843ccac
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc16cbbc4739bf1a547118bd4302e2da3cb5370213f94ebf3f19a1865b7e3d0
+size 16353816
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.mtl b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d09ddde1f39f5821947dea2a1a1ed421dcdc82a8
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_013_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/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078394c0e997d30992925dbc1d32f8254b49330c
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013.obj
@@ -0,0 +1,116796 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_013_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_collision.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5085216629accfaee3bec542267ab93104a73136
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_collision.obj
@@ -0,0 +1,17947 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_geometry_Looks_material_0.png b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21af35b3ba3ad4111ccc57d6c01717b149d02a9b
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mesh/measuring_tape_013_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9cef3512fc6940b775ce371d0e1cd126ff47be658a9897e9b66bf8bf115d54
+size 12847833
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/measuring_tape_013.xml b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/measuring_tape_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e9069ae75362f99cff69fa7995b20f63a6a3853
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/measuring_tape_013.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/measuring_tape_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/measuring_tape_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/measuring_tape_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/measuring_tape_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/measuring_tape_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/measuring_tape_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/measuring_tape_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/measuring_tape_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/measuring_tape_013_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/measuring_tape_013_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/measuring_tape_013_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/measuring_tape_013_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_013">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" 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/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21af35b3ba3ad4111ccc57d6c01717b149d02a9b
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9cef3512fc6940b775ce371d0e1cd126ff47be658a9897e9b66bf8bf115d54
+size 12847833
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38629015716ff498e03d6c76c172ac4242bc4a23
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013.obj
@@ -0,0 +1,116796 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_013_geometry_Looks_material_0
+v 0.065574 0.006779 0.013177
+v 0.068284 0.003042 0.013222
+v 0.070173 0.010660 0.013261
+v 0.070871 0.005944 0.013247
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821ef48b40078e74ab780c05db3305a67565fe04
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_0.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c58d7491650dba389bef6e5b7fdc2e55edc6389
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_0.obj
@@ -0,0 +1,1327 @@
+# https://github.com/mikedh/trimesh
+v 0.00254019 -0.05520937 -0.00336337
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_1.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64cbef53170901c27e8c523780fbbcf47598ef9
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_1.obj
@@ -0,0 +1,1225 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_10.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692f1c41013a78059828f8aed77f0240027a5b12
--- /dev/null
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_11.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda7b73555774b911c2ee1d4664233fd0bc2fc8f
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_12.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af751d1a35d9809dec976c9c0153170caafbb6f8
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_12.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_13.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540462ffdfca48ec046f51a18f35f37ede98cfb1
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_13.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_14.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e896acd44bb97dccc8f32e9fb8e773f760ae57
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_14.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_15.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fdcb116b7b235233d92edb153aa3e03c78bb1c
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_15.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_16.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eda74786d651d6856b130794f115503c2d23f77
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_16.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_17.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc9041917e9c7e41edfbd568d799e42937cebf6
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_17.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_18.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0805d0048fe33091d85f0fa7850e45c73906ec5a
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_18.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_19.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb21ffc8dc9a6d987a0310bdc3e69935d6e2553
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_19.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.03949130 -0.05509113 0.00790755
+v 0.04408913 -0.05509855 0.01016399
+v 0.04177984 -0.05509485 0.01016399
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_2.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12748b497a1ef53d5e46041bcdcc0774f953b71
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_20.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ddf64d68226cfed8da9df7af6ee5f20025a4f3
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_21.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdafe3e5deb90d26e70e9be475d030cffcbce170
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_21.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_22.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d82fb94f761404e6c416c09334ec44fca5aa41b
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_22.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_23.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5dc46129b0795ebc9268e68d807d73cff2a647
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_23.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_24.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ea1f2d93551a090c159da354ebcdc1e7e812037
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02510556 -0.03488224 -0.02879689
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_25.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447306f80c2d30a97d7fc73202469bc678d3985f
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_25.obj
@@ -0,0 +1,664 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_26.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..560e1d0adf044a760a81bccf4d0470144f871974
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_26.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_27.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61ecb8f4a05a17ae01b3046c742c183eca37b31
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_27.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_28.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5b7192dc10250af3f2e958e37d348753e7a64b
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_28.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_29.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3236ce8a082a4f882f83f064497f855fba836c8
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_29.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_3.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33daeb7afd3d8f8af1fec79bdd2fbca22fae8f92
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_3.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_30.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc6bae8da9ae4a0f1092701ac5066716408f4a8
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_30.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_31.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137736ddb161beae5af51443931f002ee8733fb7
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_31.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_32.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a205381eb567002f8959850f4164df634eb463a
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_32.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_33.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121945cf5bc7ba820bcd2a46f96584bffc4606a2
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_33.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_34.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7726606f942faa889826c2795b1faf52fd92cc
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_34.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_35.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24865ec3d679d343b638ae223dd15fa9c0d4e754
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_35.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+v -0.06120273 -0.01725426 -0.01112734
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+
diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_36.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae51ad6eb0a846157f6b35fed17eacf5ff01ca66
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_36.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04683624 -0.02891076 -0.01090894
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+v -0.04785639 -0.02891076 -0.01001200
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_37.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26434e422fe4fe450e7e4979867adc5e61febfe
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_37.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_4.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3290f7fa217a1eea0cc9fa1b59f57b64ab1a5a57
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_4.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_5.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b2423ff22bea22297bcad811b70dc09ce2a378
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_5.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_6.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a407f9ced3a010a699f1bc6f764e0c32e96c1d2d
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_7.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b72da93c2f777beecb7cc0c88fb5684be5cbf50
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_7.obj
@@ -0,0 +1,853 @@
+# https://github.com/mikedh/trimesh
+v -0.04591574 0.01452312 -0.02875654
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_8.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab2c4963e08e7a97c34b80e295feafa0a919489
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_8.obj
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diff --git a/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_9.obj b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e99b6d6dc8b71494addac5237cbc2e39cf4bae
--- /dev/null
+++ b/dataset/tools/repair_tools/d43f9ea20bf35d5e963facf0629a81a9/mjcf/mesh/measuring_tape_013_collision_9.obj
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