diff --git a/.gitattributes b/.gitattributes
index 882d7b75e166bbb55f307310f139823a6f7e9d28..9076df4546e21d4a9c657739ec80b47ca921a7fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5178,5 +5178,5 @@ dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/hex_key_033.usd filt
dataset/tools/repair_tools/ef85bd4181105dffb96f06481a73d57c/mesh/hex_key_033.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/mesh/pliers_007.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/eabb2e11fe17557f96c68e4fff9f1937/pliers_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/mesh/wrench_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/ecb58f93021f5bc28772649b8954067d/wrench_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.urdf b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d3778bb123465cedf846c76173aa0bbecc593fa
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.urdf
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+ repair_tools
+ measuring_tape
+ retractable tape
+ red,blue
+ irregular
+ plastic
+ compact red and blue retractable measuring tape with belt clip
+ 0.0575
+ 0.0575
+ 0.0575
+ 0.15
+ 0.35
+ v0.1.0
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+ ""
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+ 0.072460 0.063283 0.032731
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+ ./caption_candidates.json
+
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+ 11
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+ affordance/affordance_annot.json
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+ NO: {"summary":"Over-merged casing and fragmented small hardware; key functional boundaries are missing and not fixable by merging alone.","merge_groups":[{"colors":["Blue","Gray"],"target_part":"metal screws/rivets","reason":"same fastener hardware across views"},{"colors":["Maroon","Navy"],"target_part":"belt clip","reason":"adjacent pieces of same clip surface"}]}
+
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.usd b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/measuring_tape_022.usd
new file mode 100644
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--- /dev/null
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/material.mtl b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e25f43bfec7059748dbbb1793d2dec209a61f767
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/material_0.png b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.glb b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.glb
new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..2330301f0fdfeab6886d90ba39a3b7066e53f26e
--- /dev/null
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+newmtl measuring_tape_022_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68dcd2867480108e31bff45410fb9cd6ec5ee774
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022_collision.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d47e6e52ad99fe77457a6049242a96bd791b60
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mesh/measuring_tape_022_collision.obj
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/material_0.png
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9285ffa553e15b3fb0f820643bf492f5848af8b6
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision.obj
@@ -0,0 +1,11864 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_0.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f82c21c03cd92e9e7a4b2bcf5f653c29e2ce778
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_0.obj
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_1.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15be876d37595fe539cda04d103feca0ca75f89
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_1.obj
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_10.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d0b2715e9a0ae7acfbc2b9d1a50161deb954df
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_11.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f3d90b8030ae6b93d884eb124ef08e70fac8b7
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_11.obj
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_12.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ed734785f05f88a100a3877ac12df9b5c887b4
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_13.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd2cde113af72ed1d3b619d43f626bd58f5b70f
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_14.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abe19f8fd3b8c349d80a0fa195cd138b183704b
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_14.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03666038 0.03269417 -0.02472647
+v 0.03666038 0.03285329 -0.02467167
+v 0.03825995 0.03292686 -0.02411655
+v 0.03824954 0.03269417 -0.02419756
+v 0.03666038 0.03269408 -0.00038684
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+v 0.03848896 0.03269417 -0.02411417
+v 0.04180954 0.04331739 -0.01883212
+v 0.04256769 0.04205985 -0.01901559
+v 0.04256769 0.03269408 -0.00038684
+v 0.03666038 0.05015082 -0.00038678
+v 0.03666038 0.04647237 -0.01932529
+v 0.03879256 0.03269417 -0.02396884
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+v 0.04256769 0.03802880 -0.00038682
+v 0.04256769 0.03269416 -0.02089064
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+v 0.03666038 0.05015258 -0.01350721
+v 0.03666038 0.04996781 -0.01554663
+v 0.03666038 0.05001401 -0.01535842
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+f 1 10 5
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_15.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0475e256f5d846782f85b56ec0fe21539f0b6635
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_15.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.04256943 0.03269416 -0.02089153
+v 0.04256943 0.03970728 -0.01961497
+v 0.04275977 0.03970728 -0.01957885
+v 0.04506485 0.03741101 -0.01955678
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+v 0.04955661 0.03492952 -0.01896670
+v 0.04967268 0.03281594 -0.01938218
+v 0.04967268 0.03269415 -0.01940225
+v 0.04683602 0.03269408 -0.00038885
+v 0.04256943 0.03802878 -0.00038883
+v 0.04256943 0.04192743 -0.01905499
+v 0.04265067 0.04192362 -0.01903692
+v 0.04418739 0.04110407 -0.01885829
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+v 0.05132546 0.03281594 -0.01892456
+v 0.05088093 0.03404019 -0.01878204
+v 0.05136957 0.03269415 -0.01893660
+v 0.04980732 0.03269415 -0.01936813
+v 0.04637872 0.03329669 -0.00038885
+v 0.05407159 0.03269413 -0.01232115
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+v 0.04627658 0.03862635 -0.00734750
+v 0.04256943 0.04200101 -0.01903492
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_16.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31964e039d3878a38233600484baee129da4630e
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_16.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04307938 0.03269408 -0.00038684
+v 0.04307938 0.03739904 -0.00038682
+v 0.04683553 0.03269408 -0.00038684
+v 0.04307938 0.03269401 0.02036821
+v 0.04396403 0.03632422 -0.00038683
+v 0.04307938 0.04160885 0.00548661
+v 0.04626706 0.03861601 0.00608593
+v 0.04604169 0.03373949 -0.00038684
+v 0.05360110 0.03269404 0.01006788
+v 0.04967227 0.03269401 0.01874900
+v 0.04967227 0.03281657 0.01872666
+v 0.04736924 0.03511328 0.01883841
+v 0.04506509 0.03741123 0.01890749
+v 0.04307938 0.03973368 0.01882624
+v 0.04456390 0.03558152 -0.00038683
+v 0.04307938 0.04408570 0.00977537
+v 0.04401113 0.04095317 0.00603921
+v 0.04307938 0.04498527 0.01134786
+v 0.05453397 0.03269404 0.01178461
+v 0.04561674 0.03427016 -0.00038683
+v 0.04494064 0.03511335 -0.00038683
+v 0.05199772 0.03269401 0.01794855
+v 0.04979561 0.03521868 0.01803795
+v 0.04756097 0.03759874 0.01810094
+v 0.04527252 0.03991384 0.01812939
+v 0.04307938 0.04210515 0.01807860
+v 0.04307938 0.04521444 0.01353185
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_17.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd18b3744eaf1b2e8e29bd10a72f2107c584ef8e
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02163344 -0.01828899 0.02454545
+v 0.02093057 -0.01828900 0.02668791
+v 0.02094492 -0.02002356 0.02680087
+v 0.02162269 -0.01873830 0.02454545
+v -0.01500186 -0.01828899 0.02454545
+v 0.02064369 -0.01828900 0.02702367
+v 0.01918774 -0.02051236 0.02922652
+v 0.01924153 -0.02232007 0.02935440
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_18.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aecafb5f2cacfc47602b3732a81930a082a4864
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_18.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_19.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c098d5efac725c6196c2bf250de77cfac08fad4a
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_2.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6b56da86491f09fdaafe8ea405f8c7a265871f
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_2.obj
@@ -0,0 +1,1465 @@
+# https://github.com/mikedh/trimesh
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+v -0.01551007 -0.03380371 -0.02511416
+v -0.01551007 -0.04069473 -0.02511903
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_20.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_20.obj
new file mode 100644
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+f 36 49 37
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+f 37 50 51
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+f 39 41 52
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+f 39 53 40
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+f 56 61 57
+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_21.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bf7f0fe04288b87a05577d7de9f07dbe304dba
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04967070 -0.00164429 -0.02512727
+v 0.04736851 -0.00140092 -0.02505617
+v 0.04942665 -0.00140092 -0.02511779
+v 0.04967070 -0.00140092 -0.02512490
+v 0.05288807 -0.00944628 -0.02492822
+v 0.05197696 -0.00944628 -0.02500406
+v 0.05058588 -0.00944628 -0.02510596
+v 0.04967070 -0.00394172 -0.02512490
+v 0.04736851 -0.00944628 -0.02511781
+v 0.04736851 -0.00853581 -0.02511307
+v 0.02401713 -0.00140093 -0.02256545
+v 0.05197696 -0.00140092 -0.02484052
+v 0.05549126 -0.00944628 -0.02412247
+v 0.04967070 -0.00944628 -0.02511781
+v 0.02401713 -0.00944629 -0.02256310
+v 0.02401713 -0.00623838 -0.02256546
+v 0.02401713 -0.00140101 -0.00091676
+v 0.05382359 -0.00140092 -0.02391864
+v 0.05625187 -0.00944628 -0.02376462
+v 0.02401713 -0.00944637 -0.00091678
+v 0.06043731 -0.00140101 -0.00091676
+v 0.06308930 -0.00140094 -0.01912915
+v 0.05690674 -0.00944628 -0.02340440
+v 0.06531014 -0.00944637 -0.00091678
+v 0.06498881 -0.00685988 -0.00091678
+v 0.06503762 -0.00140096 -0.01297225
+v 0.06412244 -0.00140094 -0.01848455
+v 0.06425260 -0.00164431 -0.01841345
+v 0.06301609 -0.00944630 -0.01936853
+v 0.06531828 -0.00944636 -0.00314445
+v 0.06555825 -0.00394175 -0.01535870
+v 0.06556639 -0.00164432 -0.01535870
+v 0.06531014 -0.00940856 -0.00091678
+v 0.06528980 -0.00853590 -0.00091678
+v 0.06555012 -0.00140095 -0.01535870
+v 0.06424446 -0.00140094 -0.01840397
+v 0.06509049 -0.00140095 -0.01727118
+v 0.06509457 -0.00164432 -0.01728066
+v 0.06426480 -0.00394174 -0.01842056
+v 0.06420379 -0.00944630 -0.01826654
+v 0.06533454 -0.00944633 -0.00993648
+v 0.06533861 -0.00944633 -0.01219969
+v 0.06533861 -0.00944632 -0.01309550
+v 0.06533048 -0.00944632 -0.01446054
+v 0.06531828 -0.00944631 -0.01535872
+v 0.06511490 -0.00944631 -0.01642990
+v 0.06497661 -0.00944631 -0.01713375
+v 0.06504575 -0.00623840 -0.01723090
+v 0.06509457 -0.00394175 -0.01729014
+v 0.06550945 -0.00140095 -0.01555303
+v 0.06529794 -0.00888166 -0.00091678
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 17
+f 2 17 21
+f 2 21 26
+f 2 26 35
+f 2 35 50
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+f 2 27 22
+f 2 22 18
+f 2 18 12
+f 2 12 4
+f 2 4 3
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+f 5 41 30
+f 5 30 24
+f 5 24 20
+f 5 20 15
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+f 5 14 7
+f 5 7 6
+f 7 14 8
+f 8 14 9
+f 9 15 16
+f 9 16 11
+f 9 11 10
+f 11 16 15
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+f 12 18 19
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+f 17 25 21
+f 18 22 19
+f 19 22 23
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+f 22 27 23
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+f 23 28 29
+f 24 30 31
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+f 28 36 37
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+f 31 41 42
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+f 32 35 34
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+f 38 49 39
+f 39 49 40
+f 40 49 48
+f 40 48 47
+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_22.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad55e286e41f6593df30f7a72976a84765d66f79
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_22.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02401713 -0.00944637 -0.00091431
+v 0.02401713 -0.00944646 0.02331550
+v 0.02401713 -0.00140101 -0.00091429
+v 0.06530875 -0.00944637 -0.00091431
+v 0.02662837 -0.00944646 0.02358950
+v 0.02662837 -0.00623855 0.02359691
+v 0.02401713 -0.00391434 0.02331059
+v 0.02401713 -0.00140110 0.02327356
+v 0.06043608 -0.00140101 -0.00091429
+v 0.06530875 -0.00940856 -0.00091431
+v 0.06556499 -0.00394186 0.01406890
+v 0.06533315 -0.00944640 0.00728078
+v 0.04617599 -0.00944646 0.02427324
+v 0.02662837 -0.00140110 0.02358952
+v 0.02401713 -0.00190595 0.02330318
+v 0.06509724 -0.00140106 0.01227931
+v 0.06499149 -0.00685988 -0.00091431
+v 0.06529655 -0.00888166 -0.00091431
+v 0.06556092 -0.00164443 0.01406890
+v 0.06517859 -0.00394187 0.01633242
+v 0.06509724 -0.00623852 0.01633241
+v 0.06547144 -0.00623851 0.01406889
+v 0.06533722 -0.00944641 0.00954430
+v 0.04688777 -0.00944646 0.02428312
+v 0.04966984 -0.00140110 0.02430042
+v 0.04792088 -0.00140110 0.02427573
+v 0.04618413 -0.00853599 0.02427078
+v 0.04620040 -0.00696866 0.02426337
+v 0.06550805 -0.00140106 0.01388623
+v 0.06554872 -0.00140106 0.01406890
+v 0.06528841 -0.00853590 -0.00091431
+v 0.06517046 -0.00164444 0.01633242
+v 0.06472305 -0.00394187 0.01753947
+v 0.06469051 -0.00623852 0.01750490
+v 0.06493049 -0.00944643 0.01650519
+v 0.06532908 -0.00944642 0.01406888
+v 0.06533315 -0.00944642 0.01270385
+v 0.06517453 -0.00944643 0.01501921
+v 0.04736772 -0.00944646 0.02428805
+v 0.04875875 -0.00944646 0.02429052
+v 0.04966984 -0.00944646 0.02428805
+v 0.05136591 -0.00944646 0.02427078
+v 0.05093884 -0.00140110 0.02427820
+v 0.06519893 -0.00140107 0.01609298
+v 0.06515012 -0.00140107 0.01635217
+v 0.06471085 -0.00140107 0.01752219
+v 0.06471492 -0.00164444 0.01752713
+v 0.05738558 -0.00944645 0.02217757
+v 0.06107465 -0.00944644 0.01984493
+v 0.06364927 -0.00944644 0.01818617
+v 0.06438953 -0.00944643 0.01760116
+v 0.06465797 -0.00751838 0.01747033
+v 0.06460103 -0.00944643 0.01737406
+v 0.05241529 -0.00944646 0.02416957
+v 0.05106086 -0.00140110 0.02425105
+v 0.06368588 -0.00140108 0.01809979
+v 0.05658431 -0.00944645 0.02262929
+v 0.05435134 -0.00944646 0.02351298
+v 0.05209397 -0.00140110 0.02400421
+v 0.06351912 -0.00140108 0.01819112
+f 1 2 7
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+f 1 8 3
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+f 1 9 17
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+f 1 31 18
+f 1 18 10
+f 1 10 4
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+f 1 54 42
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+f 57 60 59
+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_23.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b90a34432d2dec7672e11f47c124febfe2e555
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_23.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02401307 -0.00140100 -0.00154802
+v 0.02401307 -0.00140110 0.02327338
+v 0.02401307 0.00773085 -0.00154798
+v 0.06043696 -0.00140100 -0.00154802
+v 0.02401307 0.00034464 0.02326580
+v 0.02663162 -0.00140110 0.02358969
+v 0.02401307 0.00773075 0.02315701
+v 0.06476326 0.00773085 -0.00154798
+v 0.06268550 0.00151304 -0.00154800
+v 0.06510075 -0.00140106 0.01228101
+v 0.02401307 0.00723554 0.02316714
+v 0.02663162 0.00295119 0.02356946
+v 0.02663162 0.00773075 0.02352393
+v 0.04792158 -0.00140110 0.02427544
+v 0.04620164 0.00389870 0.02426281
+v 0.04618537 0.00524756 0.02427041
+v 0.04615691 0.00754483 0.02427548
+v 0.04615284 0.00773075 0.02427548
+v 0.06476326 0.00773082 0.00501607
+v 0.06544636 0.00065397 0.01406753
+v 0.06555208 -0.00140106 0.01406752
+v 0.06419808 0.00524766 -0.00154799
+v 0.06353938 0.00295129 -0.00154800
+v 0.06550735 -0.00140106 0.01388786
+v 0.04810049 -0.00140110 0.02427797
+v 0.04736860 0.00524756 0.02429066
+v 0.04625449 0.00773075 0.02427801
+v 0.06522273 0.00295123 0.01406754
+v 0.06474293 0.00773080 0.01163831
+v 0.06478360 0.00524759 0.01560861
+v 0.06494217 0.00295122 0.01605649
+v 0.06515360 -0.00140107 0.01635254
+v 0.06413302 0.00501525 -0.00154799
+v 0.04967000 -0.00140110 0.02429822
+v 0.04736860 0.00754483 0.02429320
+v 0.04967000 0.00065393 0.02430076
+v 0.04736860 0.00773075 0.02429320
+v 0.06467787 0.00652852 0.01528977
+v 0.06446237 0.00773079 0.01406756
+v 0.06430379 0.00524759 0.01674226
+v 0.06449490 0.00295122 0.01719014
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+v 0.06403950 0.00773078 0.01618304
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+v 0.06334420 0.00295121 0.01807328
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+v 0.04982451 0.00773075 0.02427548
+v 0.05157292 0.00773075 0.02387061
+v 0.05209338 -0.00140110 0.02400468
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+f 1 33 23
+f 1 23 9
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+f 1 14 6
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+f 7 11 13
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+f 57 67 58
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+f 58 69 68
+f 59 70 60
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+f 64 67 66
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+f 64 71 69
+f 64 69 67
+f 65 73 66
+f 68 69 71
+f 68 71 74
+f 70 74 71
+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_24.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07e4cd099ded14533b6004f5cc2e2af301cd1d7
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02239343 0.00142743 0.02325578
+v -0.02239343 0.00142743 0.02425578
+v -0.02239343 0.00851663 0.02325578
+v -0.02239343 0.00851663 0.02425578
+v -0.02139343 0.00142743 0.02325578
+v -0.02139343 0.00142743 0.02425578
+v -0.02139343 0.00851663 0.02325578
+v -0.02139343 0.00851663 0.02425578
+f 2 4 1
+f 5 2 1
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+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
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_25.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c046e550c73ff022539db668537233764721fc02
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01545568 -0.00944724 0.02357949
+v -0.01545568 -0.00944724 0.02457949
+v -0.01545568 0.00896088 0.02357949
+v -0.01545568 0.00896088 0.02457949
+v 0.02221361 -0.00944724 0.02357949
+v 0.02221361 -0.00944724 0.02457949
+v 0.02221361 0.00896088 0.02357949
+v 0.02221361 0.00896088 0.02457949
+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/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_26.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a9fbc3ce3ffc75bbb6ef0a754dcd3874d30a73
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_26.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.01480551 0.02132754 0.02991689
+v -0.01471392 0.01903179 0.02991688
+v -0.01420394 0.02132753 0.03151161
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_27.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e84ae83128090d28465a3bb6f57f4fb03bc4d500
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02092308 0.00896087 0.02778218
+v 0.02091384 0.00896086 0.02886123
+v 0.02172511 -0.00623808 0.02442347
+v 0.02086209 0.00867257 0.02655026
+v 0.02084546 0.00896087 0.02661969
+v 0.02178425 -0.00944724 0.02442346
+v 0.01978656 0.00896086 0.02950631
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+v 0.02144791 -0.00372444 0.02442348
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+v 0.00290509 -0.00944724 0.02442346
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+f 1 2 3
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+
diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_28.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d086ccf726aa5ca1b1f39be3520f45346d8be7
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_28.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.00353970 0.01665052 0.02991449
+v 0.00353970 0.01745525 0.03130209
+v 0.00353970 0.01707266 0.02538556
+v 0.00662338 0.00896295 0.02671675
+v 0.00691804 0.00896295 0.02842472
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+v 0.00353970 0.01747603 0.03132929
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+v 0.01049682 0.00896294 0.03013866
+v 0.00353970 0.01900232 0.03180952
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_29.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1370d673a40effde3bcf931ee0e9f78e2c841d89
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_29.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_3.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef7ed65a84c74240afe1c59d5cd7ca120a704e9
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_3.obj
@@ -0,0 +1,1762 @@
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_4.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175cedcfce2384035976ca8991f8b890e2d08765
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_4.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.06902343 -0.05352211 -0.00856960
+v 0.06911876 -0.05345547 -0.01039381
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_5.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c2b533113f7af49ccaeecb49463fabfb2a35bd
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_5.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_6.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428d3b02c5c25cf3076ced8ed3b3cbf1aaeddba6
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_7.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5007b638f1460cc22b94710b3ff01821f26e93
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_7.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_8.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2cfc6e523841058837ec90db9207e23c58609fd
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_8.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_9.obj b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb5ecb1523a7d6fce3a176c2c5db601973505fd
--- /dev/null
+++ b/dataset/tools/repair_tools/eebc08bc8e8d564993dcfe814f3bb73e/mjcf/mesh/measuring_tape_022_collision_9.obj
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