diff --git a/.gitattributes b/.gitattributes
index 22d83c4931a75464023a088869a30bc88616a7a9..5413ef9a4b353f0ff827b6ee6f1c244320b9d380 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5056,5 +5056,4 @@ dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/measuring_tape_025.u
dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/mesh/measuring_tape_025.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mesh/mini_hammer_030.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mini_hammer_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/11c0c13cedc45e07b9611d3f95a01cf7/measuring_tape_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/11c0c13cedc45e07b9611d3f95a01cf7/mesh/measuring_tape_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.urdf b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.urdf
new file mode 100644
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+ NO: {"summary":"Handle and body are merged; bottom strip is inconsistent and not a distinct functional part.","merge_groups":[]}
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd
new file mode 100644
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/material.mtl b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39.glb b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39.glb
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39_collision.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615ce14bd6a191e9243fa58f550a5a37760b0e48
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mesh/toolbox_39_collision.obj
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ddf9fd8f33325b880fd95ccc4dd08b3039345aa
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision.obj
@@ -0,0 +1,16525 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_0.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed2d9de2d788f4de2f4d140d733ff54e40bdcc
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_0.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_1.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcfe6d333876d990ac865c563c41b93dc20606d2
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_1.obj
@@ -0,0 +1,94 @@
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+f 8 17 18
+f 10 19 22
+f 10 22 14
+f 10 14 12
+f 10 12 11
+f 13 21 20
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 19 27 22
+f 19 28 27
+f 20 21 29
+f 20 29 23
+f 21 30 28
+f 21 28 29
+f 23 29 24
+f 24 29 31
+f 24 31 25
+f 25 31 28
+f 25 28 26
+f 27 28 32
+f 28 30 32
+f 28 31 29
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_10.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a2a114bc7566f82a4b05725ecb2c62d0dc0c62
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.24433994 0.14299022
+v -0.00169744 0.24433995 0.14278333
+v -0.02687848 0.24571405 0.14271898
+v -0.02687848 0.24434003 0.11982930
+v -0.00169744 0.24544343 0.14255808
+v -0.00169744 0.24434003 0.12003158
+v -0.00169744 0.25456032 0.13961128
+v -0.02687848 0.25456032 0.13982735
+v -0.02687848 0.24761641 0.09602937
+v -0.01816519 0.24757701 0.09602937
+v -0.01320342 0.24434003 0.11958564
+v -0.00444823 0.24434003 0.11985228
+v -0.00169744 0.24757701 0.09602937
+v -0.00169744 0.25720080 0.13825509
+v -0.02687848 0.26340136 0.13601626
+v -0.02687848 0.27111275 0.09602946
+v -0.00941246 0.24756387 0.09602937
+v -0.00444823 0.24756650 0.09602937
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+v -0.00169744 0.27117580 0.09602946
+v -0.00169744 0.26294157 0.13529449
+v -0.00169744 0.26434457 0.13383257
+v -0.00169744 0.26740808 0.13061451
+v -0.02687848 0.26539026 0.13378201
+v -0.02574710 0.27111802 0.09602946
+v -0.02687848 0.27111274 0.09716498
+v -0.00444823 0.27117580 0.09602946
+v -0.00169744 0.27117844 0.09825912
+v -0.02687848 0.26737917 0.13063291
+v -0.00169744 0.26911850 0.12620117
+v -0.02687848 0.26916579 0.12684478
+v -0.02687848 0.27111011 0.10103126
+v -0.02195614 0.27112851 0.10103126
+v -0.02195614 0.27113115 0.09602946
+v -0.00823918 0.27116794 0.09602946
+v -0.00444823 0.27117578 0.10103126
+v -0.00169744 0.27117576 0.10708583
+v -0.02687848 0.26984364 0.12373245
+v -0.00169744 0.27072644 0.11868007
+v -0.02687848 0.27109169 0.10599169
+v -0.01320342 0.27114688 0.10985797
+v -0.01320342 0.27115741 0.10103126
+v -0.01320342 0.27115743 0.09602946
+v -0.00444823 0.27117313 0.10985797
+v -0.00169744 0.27117313 0.10985797
+v -0.00444823 0.27072120 0.11868007
+v -0.02687848 0.27067390 0.11868007
+v -0.02687848 0.27088150 0.11481380
+v -0.02687848 0.27107594 0.10985797
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+f 1 3 8
+f 1 8 15
+f 1 15 24
+f 1 24 29
+f 1 29 31
+f 1 31 38
+f 1 38 47
+f 1 47 48
+f 1 48 49
+f 1 49 40
+f 1 40 32
+f 1 32 26
+f 1 26 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 20
+f 2 20 28
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+f 2 45 39
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+f 3 5 7
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+f 7 14 15
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+f 9 17 10
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+f 11 17 18
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+f 11 19 12
+f 12 19 13
+f 14 21 15
+f 15 21 22
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+f 15 23 24
+f 16 26 25
+f 20 27 28
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+f 23 30 31
+f 23 31 29
+f 25 26 32
+f 25 32 33
+f 25 33 34
+f 27 35 36
+f 27 36 28
+f 28 36 44
+f 28 44 37
+f 30 38 31
+f 30 39 38
+f 32 40 41
+f 32 41 33
+f 33 42 34
+f 33 41 42
+f 34 42 43
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+f 35 42 36
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+f 39 45 44
+f 39 44 48
+f 39 48 46
+f 40 49 41
+f 41 49 48
+f 41 48 44
+f 41 44 42
+f 46 48 47
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_11.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6fe4be22cbea31207555c6ae6e3d13ad3ca826
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.10242227 0.21876996 -0.13564248
+v 0.10240893 0.21876983 -0.10194568
+v 0.11994823 0.21876996 -0.13564248
+v 0.10248449 -0.00254516 -0.13564329
+v 0.10240893 0.21876970 -0.06659077
+v 0.12491977 0.21876958 -0.03135622
+v 0.12005491 -0.00254516 -0.13564329
+v 0.10261117 -0.00254542 -0.06665845
+v 0.10245116 0.21876967 -0.05783228
+v 0.12496866 0.21876954 -0.02259773
+v 0.12500867 0.02236754 -0.02253159
+v 0.12491977 0.01342052 -0.03135697
+v 0.12491755 0.00449512 -0.03135700
+v 0.12490866 -0.00254554 -0.03135703
+v 0.10266673 -0.00254545 -0.05783309
+v 0.10265118 0.00449521 -0.05783306
+v 0.10264229 0.01342061 -0.05783303
+v 0.10284898 0.21876964 -0.04900693
+v 0.12502644 0.21876946 0.00089643
+v 0.12511090 0.01342040 0.00093580
+v 0.12505311 0.02236751 -0.01370623
+v 0.12500867 0.01342048 -0.02253162
+v 0.12492643 -0.00254555 -0.02948498
+v 0.10314233 -0.00254547 -0.05087978
+v 0.11078077 0.21876946 0.00093655
+v 0.10327567 -0.00254548 -0.04900774
+v 0.11082299 -0.00254566 0.00093574
+v 0.11081633 0.00752790 0.00093578
+v 0.11081188 0.01647496 0.00093581
+v 0.11080966 0.02236746 0.00093583
+v 0.12502644 0.21876946 0.00093655
+v 0.12509756 0.00211201 0.00093576
+v 0.12505089 0.01342045 -0.01370626
+v 0.12499755 0.00449508 -0.02253165
+v 0.12498644 -0.00254558 -0.02253168
+v 0.12509090 -0.00254566 0.00093574
+v 0.12503978 0.00449505 -0.01370629
+v 0.12507533 -0.00254565 -0.00300893
+v 0.12502867 -0.00254561 -0.01370632
+f 1 2 5
+f 1 5 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 19
+f 1 19 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
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+f 1 4 2
+f 2 4 5
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+f 4 8 5
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+f 6 12 7
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+f 9 17 18
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+f 18 30 25
+f 19 31 20
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+f 20 33 21
+f 20 31 25
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+f 20 30 29
+f 20 29 28
+f 20 28 27
+f 20 27 36
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+f 21 33 22
+f 22 33 37
+f 22 37 34
+f 22 34 23
+f 23 34 35
+f 32 37 33
+f 32 36 38
+f 32 38 37
+f 34 37 39
+f 34 39 35
+f 37 38 39
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_12.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50441f5f4c67564b2cc378e2e438b8c3e89f954
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_12.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.12520820 -0.23665510 0.00037621
+v -0.12415492 -0.24557645 0.00037618
+v -0.12510470 -0.21879157 0.00037628
+v -0.12510470 -0.21877078 0.00036357
+v -0.12509861 -0.21877076 -0.00489833
+v -0.12508035 -0.21877073 -0.01371900
+v -0.12517776 -0.23665505 -0.01370636
+v -0.12445934 -0.24557633 -0.03135410
+v -0.12442281 -0.24557637 -0.02252707
+v -0.12433148 -0.24557640 -0.01370639
+v -0.12284592 -0.25026589 0.00037616
+v -0.12321731 -0.25071808 -0.03135412
+v -0.12313207 -0.25061414 -0.02252709
+v -0.12302858 -0.25048940 -0.01370641
+v -0.11083362 -0.21877078 0.00037628
+v -0.12504382 -0.21877070 -0.02254603
+v -0.12515341 -0.23665502 -0.02252704
+v -0.12504990 -0.23665498 -0.03135407
+v -0.12417927 -0.24557630 -0.04017478
+v -0.12317469 -0.25067126 -0.04017480
+v -0.08833718 -0.26864930 0.00037609
+v -0.08835545 -0.26868563 -0.01370648
+v -0.08834327 -0.26866487 -0.00487945
+v -0.11076664 -0.21877078 0.00037628
+v -0.12492205 -0.21877066 -0.03137306
+v -0.12492813 -0.21879145 -0.03135400
+v -0.12446542 -0.23665495 -0.04017475
+v -0.12327211 -0.24557628 -0.04539855
+v -0.12294943 -0.25040090 -0.04490924
+v -0.08794753 -0.26825404 -0.03634918
+v -0.08817889 -0.26850360 -0.03135419
+v -0.08830065 -0.26862843 -0.02252716
+v -0.08531736 -0.26980866 0.00037609
+v -0.08325341 -0.27060922 -0.02252716
+v -0.08325341 -0.27064046 -0.01370648
+v -0.06300966 -0.24281583 0.00037619
+v -0.06300966 -0.23270897 -0.03856057
+v -0.06300966 -0.23188751 -0.04297091
+v -0.06300966 -0.23169515 -0.04495365
+v -0.06300966 -0.23138840 -0.04900176
+v -0.10324146 -0.21877060 -0.04900171
+v -0.12422189 -0.21877063 -0.04018103
+v -0.12331473 -0.23665493 -0.04562094
+v -0.11866323 -0.22772310 -0.06454596
+v -0.11845014 -0.23665486 -0.06454599
+v -0.11587477 -0.24386576 -0.06454602
+v -0.11088233 -0.24832646 -0.06454603
+v -0.10983513 -0.24887234 -0.06454603
+v -0.10650481 -0.25060359 -0.06454604
+v -0.08325341 -0.26918984 -0.03789979
+v -0.08325341 -0.27052080 -0.03135419
+v -0.08325341 -0.27059371 0.00037609
+v -0.07449838 -0.27188292 -0.03135420
+v -0.07804179 -0.27130594 0.00037608
+v -0.06300966 -0.27174266 0.00037608
+v -0.06300966 -0.23131560 -0.05175345
+v -0.10246214 -0.21877057 -0.05782238
+v -0.12313207 -0.21877061 -0.04532219
+v -0.11817616 -0.21877054 -0.06454592
+v -0.10076349 -0.25159657 -0.06454604
+v -0.07449838 -0.26990731 -0.03914536
+v -0.06300966 -0.26987090 -0.03916443
+v -0.06300966 -0.27183612 -0.03135420
+v -0.06300966 -0.27183616 -0.02252717
+v -0.07449838 -0.27177387 0.00037608
+v -0.06928675 -0.27176345 0.00037608
+v -0.06300966 -0.23121161 -0.05782243
+v -0.10244997 -0.21877575 -0.06454592
+v -0.10618821 -0.21877054 -0.06454592
+v -0.07449838 -0.25300028 -0.06454605
+v -0.06364894 -0.25323424 -0.06454605
+v -0.06300966 -0.25324464 -0.06454605
+v -0.06300966 -0.23126876 -0.06454597
+f 1 2 11
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+f 1 52 54
+f 1 54 65
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+f 1 36 24
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+f 1 3 4
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+f 4 42 25
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+f 4 16 6
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+f 9 12 10
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+f 12 21 13
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+f 43 58 44
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+f 44 71 70
+f 44 70 60
+f 44 60 49
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+f 44 46 45
+f 44 58 59
+f 49 60 50
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+f 50 61 53
+f 50 53 51
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+f 53 63 64
+f 53 64 65
+f 53 65 54
+f 55 66 64
+f 56 67 57
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+f 57 68 69
+f 60 70 61
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+f 61 71 72
+f 61 72 62
+f 64 66 65
+f 67 73 68
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_13.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2209832528f88467f3ebf77d26fce6180abe8c05
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.02723872 -0.23685421 -0.06195727
+v 0.02740551 -0.24081603 -0.06195728
+v 0.02803931 -0.21753240 -0.06195720
+v 0.02777245 -0.23664940 -0.06665766
+v 0.02876206 -0.23664936 -0.07548287
+v 0.02768720 -0.24531810 -0.06195730
+v 0.02979986 -0.23664933 -0.08430809
+v 0.04541509 -0.21753240 -0.06195720
+v 0.03261305 -0.21753226 -0.10195844
+v 0.03275760 -0.21753225 -0.10319676
+v 0.03364715 -0.21753222 -0.11077494
+v 0.03173092 -0.25191759 -0.06195733
+v 0.02940328 -0.24557934 -0.07548290
+v 0.02832841 -0.24557938 -0.06665769
+v 0.03392142 -0.25113712 -0.09313335
+v 0.03322461 -0.25165268 -0.08430814
+v 0.03263529 -0.25188576 -0.07548293
+v 0.03091550 -0.23664930 -0.09313330
+v 0.06510368 -0.23127517 -0.06195725
+v 0.06510368 -0.21753213 -0.13613434
+v 0.03456264 -0.21753220 -0.11736769
+v 0.03213122 -0.23664927 -0.10195851
+v 0.03933653 -0.25354187 -0.06195733
+v 0.03207562 -0.25192111 -0.06665772
+v 0.03933653 -0.25360538 -0.07548293
+v 0.03052633 -0.24557931 -0.08430812
+v 0.03451075 -0.25056154 -0.09990051
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+v 0.04140472 -0.25170905 -0.11960027
+v 0.03933653 -0.25287440 -0.09313336
+v 0.03933653 -0.25339702 -0.08430815
+v 0.06510368 -0.25215417 -0.06195733
+v 0.06510368 -0.21753208 -0.15103779
+v 0.03545589 -0.21753218 -0.12178029
+v 0.03543365 -0.22771920 -0.12185009
+v 0.03454040 -0.22771922 -0.11742877
+v 0.03348406 -0.23664923 -0.11077501
+v 0.03474055 -0.24181158 -0.11625154
+v 0.06510368 -0.25272606 -0.10195857
+v 0.06510368 -0.25284961 -0.11077507
+v 0.04808743 -0.25328743 -0.11960028
+v 0.04808743 -0.25335101 -0.11077507
+v 0.06510368 -0.25288489 -0.11960028
+v 0.03180876 -0.24557928 -0.09313333
+v 0.03353596 -0.24625014 -0.10249050
+v 0.03519644 -0.24967170 -0.10577817
+v 0.04310597 -0.25064969 -0.13500951
+v 0.04753517 -0.25156422 -0.13766928
+v 0.04808743 -0.25284955 -0.12842549
+v 0.06510368 -0.21878912 -0.15104652
+v 0.06436980 -0.21753208 -0.15102035
+v 0.03682727 -0.21753216 -0.12842536
+v 0.03680874 -0.22771918 -0.12842540
+v 0.03548184 -0.23664919 -0.12154491
+v 0.03457747 -0.23664921 -0.11713230
+v 0.03425500 -0.24359125 -0.11077503
+v 0.03696811 -0.23664917 -0.12842543
+v 0.04170494 -0.24611583 -0.13766926
+v 0.03902148 -0.24557915 -0.12842546
+v 0.05684574 -0.25282833 -0.13725070
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_14.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d3870e2d457a2cc773cd24f8ea83af116f29df
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_14.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_15.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3400d3b38e886d634d51c0c836eb0c01fc3467
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_15.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_16.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb54945c520b1ffdba37db5ebd6a6f902ebd3ef
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.11080842 -0.00254571 0.01495339
+v 0.10754693 -0.00254609 0.11662368
+v 0.12513925 -0.00254571 0.01495339
+v 0.11080842 -0.00444416 0.01495338
+v 0.10718011 -0.10261089 0.11662331
+v 0.10719688 -0.09367182 0.11662335
+v 0.12859148 -0.00254609 0.11662368
+v 0.12838815 -0.00254597 0.08337383
+v 0.12839235 -0.01338349 0.08337379
+v 0.12839444 -0.02230999 0.08337376
+v 0.12839864 -0.11161270 0.08337343
+v 0.12513925 -0.00263372 0.01495339
+v 0.11085243 -0.13097415 0.01495292
+v 0.10718011 -0.10267375 0.11662331
+v 0.12856632 -0.00254601 0.09407230
+v 0.12858728 -0.01545808 0.11662363
+v 0.12856003 -0.02231002 0.09220125
+v 0.12856213 -0.01338352 0.09220128
+v 0.12856423 -0.00444445 0.09220131
+v 0.12842589 -0.00254597 0.08524482
+v 0.12856423 -0.00254600 0.09220132
+v 0.12839654 -0.13097441 0.08337336
+v 0.12513715 -0.00444416 0.01495338
+v 0.12494012 -0.13097415 0.01495292
+v 0.10737505 -0.13097453 0.11662321
+v 0.10736247 -0.12946582 0.11662321
+v 0.10729121 -0.12031302 0.11662325
+v 0.10722623 -0.11161282 0.11662328
+v 0.12852649 -0.13097453 0.11662321
+v 0.12852230 -0.13097450 0.10984585
+v 0.12854117 -0.05804117 0.09220112
+v 0.12853488 -0.06695509 0.09220108
+v 0.12847619 -0.13097444 0.09220085
+v 0.12509942 -0.03123623 0.01495329
+v 0.12511619 -0.02010954 0.01495333
+v 0.12512876 -0.01117047 0.01495336
+v 0.12852021 -0.13097450 0.10835305
+v 0.12850554 -0.13097447 0.10101838
+v 0.12850135 -0.13097447 0.09953551
+f 1 2 7
+f 1 7 15
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+f 1 20 8
+f 1 8 3
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+f 1 12 23
+f 1 23 36
+f 1 36 35
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+f 1 13 4
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+f 1 5 6
+f 1 6 2
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+f 2 25 29
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+f 7 19 15
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+f 15 19 21
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+f 17 31 22
+f 17 22 18
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+f 22 32 33
+f 22 24 34
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+f 22 35 36
+f 22 36 23
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_17.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19e92456c61709080806fccc313816d9491eeed
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.14190697 0.14385995
+v -0.02838158 -0.14190697 0.14386282
+v -0.02688201 -0.14190689 0.12154938
+v -0.02688201 0.17417739 0.14533065
+v -0.03947276 0.17417737 0.14875862
+v -0.04822615 0.17417737 0.14913535
+v -0.03071582 -0.14190697 0.14386569
+v -0.02703409 -0.14190689 0.12154938
+v -0.02688201 -0.13839035 0.12105475
+v -0.02688201 0.17805772 0.14533928
+v -0.03947276 0.18306977 0.14877591
+v -0.04822615 0.18306977 0.14919578
+v -0.06300613 0.22773385 0.14893425
+v -0.05697955 0.17417737 0.14864072
+v -0.06300613 -0.14190697 0.14385995
+v -0.06041017 -0.14190697 0.14386282
+v -0.05697955 -0.14190697 0.14386569
+v -0.04822615 -0.14190697 0.14387145
+v -0.03947276 -0.14190697 0.14387433
+v -0.03071582 -0.14190689 0.12156088
+v -0.03071582 -0.13839035 0.12109501
+v -0.02688201 -0.13337825 0.12088797
+v -0.02688201 0.18699053 0.14531920
+v -0.02688201 0.19592335 0.14526747
+v -0.03947276 0.19200259 0.14870980
+v -0.04822615 0.23666667 0.14912121
+v -0.04822615 0.22773385 0.14915280
+v -0.05697955 0.22773385 0.14905215
+v -0.06300613 0.23666667 0.14896016
+v -0.06300613 0.17417738 0.14824961
+v -0.06300613 -0.14190689 0.12247539
+v -0.04822615 -0.14190689 0.12184559
+v -0.05703260 -0.14190689 0.12204690
+v -0.04822615 -0.13839036 0.12149762
+v -0.04822615 -0.12945752 0.12106341
+v -0.03947276 -0.12945752 0.12091386
+v -0.03071582 -0.12945752 0.12079883
+v -0.02688201 -0.12945752 0.12077870
+v -0.02688201 0.23666669 0.14455440
+v -0.03947276 0.24559950 0.14581404
+v -0.04822615 0.24559950 0.14731810
+v -0.05697955 0.23666667 0.14904356
+v -0.06300613 0.23945568 0.14830161
+v -0.06300613 -0.13839036 0.12217344
+v -0.05697955 -0.13839036 0.12172482
+v -0.05697955 -0.12945753 0.12137687
+v -0.05697955 -0.09372624 0.12086799
+v -0.04822615 -0.09372624 0.12068394
+v -0.04822615 -0.08479343 0.12061783
+v -0.03947276 -0.08479343 0.12056606
+v -0.03071582 -0.08479343 0.12052580
+v -0.02688201 -0.08479343 0.12051142
+v -0.02688201 0.24568036 0.14271967
+v -0.03387766 0.26043366 0.14128757
+v -0.06300613 0.24559950 0.14668254
+v -0.03947276 0.26128247 0.14160679
+v -0.04822615 0.26112079 0.14147163
+v -0.06300613 -0.09372625 0.12151218
+v -0.06300613 -0.08758242 0.12144892
+v -0.06300613 -0.08479344 0.12143168
+v -0.05697955 -0.08479343 0.12081338
+v -0.06300613 0.24038542 0.11981666
+v -0.02688201 0.21880114 0.11982234
+v -0.02688201 0.25453235 0.13982663
+v -0.02688201 0.26338433 0.13601621
+v -0.03947276 0.26576912 0.13863034
+v -0.05697955 0.26023158 0.14109202
+v -0.06300613 0.24838851 0.14550060
+v -0.04822615 0.26556701 0.13888341
+v -0.05697955 0.26467777 0.13882588
+v -0.06300613 0.27102377 0.11981678
+v -0.02688201 0.24430615 0.11981668
+v -0.02688201 0.26536494 0.13378458
+v -0.03361948 0.26843687 0.13331009
+v -0.03947276 0.26884107 0.13421886
+v -0.04822615 0.26900275 0.13447479
+v -0.05697955 0.26908359 0.13441729
+v -0.06300613 0.26334392 0.13891505
+v -0.06300613 0.26006990 0.14047373
+v -0.06240488 0.25942318 0.14084469
+v -0.06300613 0.26908359 0.13428500
+v -0.06300613 0.27061954 0.12750670
+v -0.05697955 0.27061954 0.12750670
+v -0.04822615 0.27094293 0.11981678
+v -0.02688201 0.27045789 0.11981677
+v -0.02688201 0.26734552 0.13063845
+v -0.02688201 0.26916445 0.12684814
+v -0.03947276 0.27025578 0.12750670
+v -0.04822615 0.27053870 0.12750670
+v -0.04060097 0.27086209 0.11981677
+v -0.03184404 0.27066001 0.11981677
+v -0.02688201 0.26981116 0.12373651
+f 1 2 7
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_18.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e78a04bca033f744302a50b96f26d387c3fc891
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_18.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.11069524 0.21907583 0.00094992
+v 0.10724778 0.21907543 0.11002921
+v 0.12502820 0.21907583 0.00094992
+v 0.11081267 0.01342081 0.00094917
+v 0.10724778 0.21907530 0.14458926
+v 0.11082316 -0.00254566 0.00094911
+v 0.10724778 -0.00254609 0.11722723
+v 0.12840646 0.21907552 0.08337100
+v 0.12845469 0.12950278 0.08337068
+v 0.12510788 0.02235855 0.00094920
+v 0.10938462 0.21881497 0.14419557
+v 0.10961738 0.21907530 0.14415339
+v 0.10724778 -0.00254619 0.14330897
+v 0.10938462 -0.00254619 0.14328085
+v 0.11799698 -0.00254618 0.14197324
+v 0.12509111 -0.00254566 0.00094911
+v 0.12866858 0.21907549 0.09220083
+v 0.12866858 0.21881516 0.09220083
+v 0.12845049 0.11164897 0.08337061
+v 0.12510998 0.01342081 0.00094917
+v 0.11799068 0.21881498 0.14236774
+v 0.11799068 0.21907531 0.14236774
+v 0.12144443 -0.00254618 0.14094684
+v 0.12509740 0.00211846 0.00094913
+v 0.12838758 -0.00254597 0.08337019
+v 0.12866858 0.21907546 0.10125562
+v 0.12866858 0.21881513 0.10101660
+v 0.12866229 0.14737814 0.11867598
+v 0.12864971 0.15631597 0.10101637
+v 0.12856372 -0.00254600 0.09220002
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+v 0.12237550 -0.00254618 0.14066564
+v 0.12237969 0.02235803 0.14067980
+v 0.12238598 0.04914959 0.14067990
+v 0.12224968 0.21907531 0.14069458
+v 0.12842533 -0.00254597 0.08524021
+v 0.12863922 0.21907539 0.11867624
+v 0.12866229 0.15631590 0.11867601
+v 0.12842533 0.11164881 0.12749162
+v 0.12840855 -0.00254613 0.12749120
+v 0.12859309 -0.00254610 0.11867543
+v 0.12857631 -0.00254604 0.10289986
+v 0.12857422 -0.00254603 0.10101579
+v 0.12301088 -0.00254617 0.13973767
+v 0.12536791 -0.00254616 0.13626479
+v 0.12536791 0.00450425 0.13626482
+v 0.12536372 0.04914961 0.13626498
+v 0.12244680 0.21907531 0.14052585
+v 0.12236921 0.21907531 0.14063833
+v 0.12835193 0.21907536 0.12749201
+v 0.12840226 0.16523192 0.12749182
+v 0.12840855 0.15631587 0.12749178
+v 0.12841484 0.14737811 0.12749175
+v 0.12842323 0.12950262 0.12749169
+v 0.12842533 0.12058656 0.12749165
+v 0.12776267 -0.00254614 0.12936121
+v 0.12535323 0.12950259 0.13620904
+v 0.12534064 0.14737808 0.13622316
+v 0.12532387 0.17416964 0.13623732
+v 0.12529242 0.21907533 0.13623748
+v 0.12827015 0.21907536 0.12773104
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 35
+f 1 35 49
+f 1 49 48
+f 1 48 60
+f 1 60 61
+f 1 61 50
+f 1 50 37
+f 1 37 26
+f 1 26 17
+f 1 17 8
+f 1 8 3
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+f 1 20 24
+f 1 24 16
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+f 39 56 40
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+f 50 61 51
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+f 51 60 52
+f 52 60 53
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+f 53 59 54
+f 54 59 58
+f 54 58 57
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_19.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a708774f8e0a7026f58c1a352fa967c884bbbe8
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03313709 -0.00255086 0.01495339
+v 0.03231360 -0.00255095 0.03925471
+v 0.05261731 -0.00255086 0.01495339
+v 0.00730745 -0.02589087 0.01495330
+v 0.03205260 -0.00255099 0.04807247
+v 0.05263081 -0.00255089 0.02160488
+v 0.05263531 -0.00444691 0.01495338
+v 0.00667746 -0.03123383 0.01495329
+v 0.00773044 -0.02611244 0.01870371
+v 0.03227310 -0.00255102 0.05689978
+v 0.05261731 -0.00255089 0.02303633
+v 0.05264881 -0.00444694 0.02160487
+v 0.05256331 -0.00908915 0.01495337
+v 0.00698795 -0.03314019 0.01495328
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_2.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654b5265858ff19039cecd32dba049af9c9df56a
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_2.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_20.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33fe78f2ef00c14f237a2f4efccb09b3d5ec05d9
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_20.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_21.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ab405c74f66aba63d28b416fc72e425fb13b61
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_21.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.12052882 -0.23662613 -0.12907187
+v 0.11981022 -0.21879923 -0.12907180
+v 0.11838972 -0.24556273 -0.12907190
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+v 0.11760985 -0.20087967 -0.14607868
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+v 0.11784381 -0.09373310 -0.14607828
+v 0.11785495 -0.08479650 -0.14607825
+v 0.11784938 -0.06692331 -0.14607819
+v 0.11780482 -0.00251497 -0.14607795
+v 0.11996062 0.21876998 -0.13732144
+v 0.10241335 0.21876998 -0.13565671
+v 0.06511288 -0.22884712 -0.12907184
+v 0.06361997 0.21876998 -0.13574884
+v 0.11482456 -0.25093392 -0.13725737
+v 0.11455160 -0.25121177 -0.12907192
+v 0.11435664 -0.25056348 -0.14279767
+v 0.11379958 -0.24116381 -0.15051370
+v 0.11390542 -0.23662605 -0.15055975
+v 0.11405583 -0.22768946 -0.15062989
+v 0.11418395 -0.21879915 -0.15068689
+v 0.11747615 -0.21879916 -0.14608970
+v 0.11427308 -0.20976995 -0.15072853
+v 0.11431207 -0.20087966 -0.15074386
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+v 0.09187386 0.00447689 -0.15139232
+v 0.06511288 -0.07535054 -0.15128075
+v 0.06361997 0.01540455 -0.15117294
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_22.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0f536af661d6e264473ee443fb85fc6860e960
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_22.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.24159387 0.11952627
+v -0.02493370 -0.24159387 0.11954648
+v -0.02687848 -0.24159396 0.14395662
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+v -0.02362979 -0.24159387 0.11956923
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+v -0.02687848 -0.23659955 0.14453783
+v -0.02687848 0.24433732 0.14298807
+v -0.00445069 0.24433741 0.11985909
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+v -0.00169744 -0.23659955 0.14439632
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+v -0.01609717 -0.24159387 0.12010999
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+v -0.02687848 0.19591542 0.14526718
+v -0.01379252 -0.24159387 0.12032730
+v -0.02687848 0.18697306 0.14532021
+f 1 2 6
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+f 1 7 3
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+f 24 28 25
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_23.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d707f8310dead9d6ecadabbcce37b5c198eebfd
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_23.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.06300967 -0.21877028 -0.13567541
+v -0.10292534 -0.21877028 -0.13556559
+v -0.06300967 -0.21877023 -0.15073724
+v -0.06300967 -0.02772609 -0.13564333
+v -0.12006006 -0.21877028 -0.13556559
+v -0.10282451 -0.08787957 -0.13556511
+v -0.06574316 -0.21877023 -0.15078588
+v -0.06574316 -0.08483105 -0.15140668
+v -0.06300967 -0.08762189 -0.15127648
+v -0.06300967 -0.00445472 -0.13564325
+v -0.12011047 -0.21877028 -0.13727258
+v -0.12016088 -0.00617216 -0.13556481
+v -0.12022810 -0.00445472 -0.13725612
+v -0.10282451 -0.07894886 -0.13556508
+v -0.10076319 -0.21877023 -0.15081725
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_24.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478ea29c724fbbe03b42b9cbba2bb6f2b5eae0ed
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_24.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_25.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680e4e68e8c0daca31241771f6b0d86d33f87b5c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_25.obj
@@ -0,0 +1,199 @@
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_26.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb022bc0a31b3d28ecede168a03558f85c32fb2
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_26.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_27.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0144eb216bf1323c290f113ca829e842b26ab0bd
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06510953 -0.23129461 -0.06426156
+v 0.06510953 -0.25215662 -0.06426164
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_28.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a99c86a3bec7641f22387cae02cf43bb2ac0dd
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_28.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01809561 -0.04909831 -0.05987875
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+v 0.01809561 -0.04529397 -0.05981851
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+f 6 44 33
+f 6 33 26
+f 6 26 20
+f 6 20 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 23
+f 8 23 29
+f 8 29 31
+f 8 31 25
+f 8 25 18
+f 8 18 17
+f 8 17 16
+f 8 16 9
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 15 22 23
+f 18 24 19
+f 18 25 24
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 29
+f 24 25 30
+f 25 31 32
+f 25 32 30
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 46
+f 29 46 47
+f 29 47 41
+f 29 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 33 44 34
+f 34 44 45
+f 34 45 37
+f 34 37 36
+f 39 42 46
+f 39 46 40
+f 41 47 42
+f 42 47 46
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_29.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42660be79f0291d8b35b565a687a91ab3a3bba0
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_29.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.24363537 0.14363784
+v -0.02688201 -0.24363528 0.11876218
+v -0.02688201 -0.24166354 0.14395133
+v -0.04822615 -0.23664436 0.14933402
+v -0.03947276 -0.24363538 0.14628685
+v -0.06300613 -0.24363527 0.11788441
+v -0.02688201 -0.14190689 0.12154951
+v -0.02688201 -0.23664434 0.14453758
+v -0.05697955 -0.23664436 0.14919296
+v -0.04822615 -0.24363538 0.14800166
+v -0.04259215 -0.19725758 0.14988906
+v -0.04822615 -0.19716796 0.14985144
+v -0.06300613 -0.24363538 0.14729004
+v -0.06300613 -0.14190689 0.12247744
+v -0.05703260 -0.14190689 0.12204796
+v -0.04822615 -0.14190689 0.12184732
+v -0.03071582 -0.14190689 0.12155891
+v -0.02703409 -0.14190689 0.12154951
+v -0.02688201 -0.14190697 0.14386079
+v -0.02688201 -0.19199936 0.14528700
+v -0.03808990 -0.19199938 0.14874482
+v -0.06300613 -0.23664436 0.14901425
+v -0.05697955 -0.24363538 0.14760038
+v -0.04246836 -0.19199938 0.14990788
+v -0.04803517 -0.19250728 0.14987340
+v -0.06300613 -0.14190697 0.14386079
+v -0.02838158 -0.14190697 0.14386393
+v -0.04822615 -0.17413342 0.14886401
+v -0.03947276 -0.17413341 0.14827151
+v -0.04326412 -0.18524736 0.14969787
+v -0.02688201 -0.17022959 0.14502060
+v -0.02688201 -0.18808558 0.14527447
+v -0.02688201 -0.17915260 0.14515851
+v -0.05280267 -0.19661027 0.14962258
+v -0.05280267 -0.19581358 0.14962258
+v -0.06300613 -0.23386588 0.14897038
+v -0.04499005 -0.18524736 0.14969787
+v -0.06300613 -0.17413341 0.14732791
+v -0.05697955 -0.14190697 0.14386705
+v -0.03071582 -0.14190697 0.14386705
+v -0.03947276 -0.14190697 0.14387333
+v -0.04822615 -0.14190697 0.14387333
+v -0.06300613 -0.22493289 0.14879486
+v -0.06300613 -0.22771138 0.14886696
+f 1 2 7
+f 1 7 19
+f 1 19 31
+f 1 31 33
+f 1 33 32
+f 1 32 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 6 13 22
+f 6 22 36
+f 6 36 44
+f 6 44 43
+f 6 43 38
+f 6 38 26
+f 6 26 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 7 15 14
+f 7 14 26
+f 7 26 39
+f 7 39 42
+f 7 42 41
+f 7 41 40
+f 7 40 27
+f 7 27 19
+f 8 20 21
+f 8 21 11
+f 9 22 10
+f 9 12 22
+f 10 22 23
+f 11 21 24
+f 11 24 25
+f 11 25 12
+f 12 25 22
+f 13 23 22
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 24
+f 19 24 31
+f 20 32 21
+f 21 32 33
+f 21 33 31
+f 21 31 24
+f 22 25 34
+f 22 34 35
+f 22 35 36
+f 24 30 37
+f 24 37 25
+f 25 35 34
+f 25 37 28
+f 25 28 35
+f 26 38 28
+f 26 28 39
+f 27 40 28
+f 28 37 30
+f 28 30 29
+f 28 40 41
+f 28 41 42
+f 28 42 39
+f 28 38 35
+f 35 43 44
+f 35 44 36
+f 35 38 43
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_3.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22ffeb7b659ad6309bbcd5ec2d2b469e3f7df14
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_3.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.10243992 0.00620800 -0.15146805
+v -0.10243992 0.00054739 -0.15145321
+v -0.10565670 0.00054739 -0.15137890
+v -0.10951994 0.04915907 -0.15130439
+v -0.10951994 0.07594762 -0.15131915
+v -0.10951994 0.08488542 -0.15131912
+v -0.10243992 0.04193435 -0.15145306
+v -0.10243992 0.00054733 -0.13569795
+v -0.10951994 0.00054739 -0.15127484
+v -0.11447397 0.07594761 -0.15082865
+v -0.11448508 0.08488541 -0.15082862
+v -0.10951994 0.09382322 -0.15128936
+v -0.10243992 0.08659850 -0.15140831
+v -0.10243992 0.06872291 -0.15143809
+v -0.11448508 0.09382321 -0.15082859
+v -0.11446730 0.10273617 -0.15081370
+v -0.11442510 0.12061176 -0.15078391
+v -0.11436067 0.14737549 -0.15073923
+v -0.11429180 0.17416405 -0.15069454
+v -0.11426514 0.18310185 -0.15067964
+v -0.11423626 0.19203964 -0.15066473
+v -0.11413851 0.21882819 -0.15062005
+v -0.10265096 0.00054704 -0.05782825
+v -0.10243992 0.23101780 0.00037793
+v -0.11438066 0.00054738 -0.15075464
+v -0.11438955 0.01343271 -0.15076944
+v -0.11777516 0.06700982 -0.14607238
+v -0.11780183 0.08488540 -0.14607232
+v -0.11766631 0.00054737 -0.14607263
+v -0.11774628 0.04915905 -0.14607245
+v -0.11780404 0.09382320 -0.14607229
+v -0.11410519 0.22776599 -0.15059029
+v -0.10951994 0.22776599 -0.15078351
+v -0.10243992 0.23665413 -0.15087266
+v -0.11778850 0.10273616 -0.14607225
+v -0.11777072 0.11167396 -0.14607222
+v -0.11775073 0.12061175 -0.14607219
+v -0.11767075 0.15631328 -0.14607206
+v -0.11765076 0.16522625 -0.14607202
+v -0.11762854 0.17416404 -0.14607199
+v -0.11748859 0.22776598 -0.14607179
+v -0.10289755 0.00054702 -0.05290844
+v -0.10243992 0.25395816 0.00037801
+v -0.11088175 0.00054683 0.00037708
+v -0.10309305 0.00054701 -0.04901421
+v -0.12073647 0.23667891 -0.13724287
+v -0.11879929 0.00054735 -0.14217841
+v -0.11402522 0.23355074 -0.15056054
+v -0.10972877 0.23657964 -0.15067944
+v -0.10243992 0.23806929 -0.15084293
+v -0.11664663 0.23657963 -0.14688926
+v -0.10243992 0.25398299 -0.00318922
+v -0.10597660 0.25351125 0.00037801
+v -0.12512400 0.00054683 0.00037708
+v -0.12503958 0.23667853 -0.03135555
+v -0.12413764 0.24561635 -0.04018441
+v -0.12291358 0.25035836 -0.04488125
+v -0.11804397 0.24561670 -0.13724284
+v -0.11588464 0.24561673 -0.14430299
+v -0.12023218 0.00054733 -0.13724374
+v -0.12481076 0.00054695 -0.03135642
+v -0.11278560 0.23950926 -0.15036730
+v -0.10694741 0.24179337 -0.15061996
+v -0.10243992 0.24204164 -0.15067942
+v -0.10243992 0.25400783 -0.01201812
+v -0.11827501 0.25209622 -0.03135549
+v -0.10951994 0.25303953 0.00037801
+v -0.12513511 0.23667841 0.00037795
+v -0.12513288 0.23667843 -0.00488371
+v -0.12512844 0.23667846 -0.01371261
+v -0.12510178 0.23667849 -0.02252665
+v -0.12511734 0.00054683 -0.00099036
+v -0.12433535 0.24561632 -0.03135552
+v -0.12496849 0.00054691 -0.02252752
+v -0.12504181 0.00054688 -0.01371348
+v -0.12310240 0.25055697 -0.04018439
+v -0.11472278 0.25075594 -0.13724282
+v -0.11437400 0.25048286 -0.14235585
+v -0.10972877 0.24509539 -0.14859852
+v -0.10243992 0.24631192 -0.14914848
+v -0.10243992 0.25403271 -0.02252659
+v -0.11827501 0.25194723 -0.02252659
+v -0.10243992 0.25418209 -0.13724281
+v -0.10951994 0.25299040 -0.13724281
+v -0.12310240 0.25055694 -0.03135550
+v -0.11827501 0.25162442 -0.00488366
+v -0.11876819 0.25137613 0.00037800
+v -0.12467303 0.24030319 0.00037796
+v -0.12509957 0.00449438 -0.00488456
+v -0.12509734 0.00054685 -0.00488458
+v -0.12423095 0.24561628 -0.02252662
+v -0.10951994 0.25152561 -0.14381247
+v -0.10243992 0.24752844 -0.14822693
+v -0.10243992 0.25217112 -0.14465968
+v -0.12411987 0.24561625 -0.01371258
+v -0.12399324 0.24561622 -0.00488368
+v -0.12377997 0.24611275 0.00037798
+v -0.12298022 0.25043277 -0.02252660
+v -0.12272030 0.25015960 -0.00488366
+v -0.12178948 0.25035820 0.00037800
+v -0.12334677 0.24765204 0.00037799
+v -0.12265365 0.25008511 -0.00046922
+v -0.12289358 0.24919132 0.00037800
+f 1 2 3
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+f 1 14 13
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+f 2 42 45
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+f 11 31 15
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+f 15 31 35
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+f 15 40 41
+f 15 41 16
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+f 24 53 67
+f 24 67 87
+f 24 87 100
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+f 24 101 97
+f 24 97 88
+f 24 88 68
+f 24 68 54
+f 24 54 44
+f 24 44 45
+f 24 45 42
+f 27 30 46
+f 27 46 28
+f 28 46 31
+f 29 47 46
+f 29 46 30
+f 31 46 35
+f 32 41 48
+f 32 48 33
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 35 46 36
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+f 37 46 38
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+f 39 46 40
+f 40 46 41
+f 41 46 51
+f 41 51 48
+f 43 52 53
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+f 46 59 51
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+f 46 61 55
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+f 85 91 95
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+f 87 99 100
+f 88 97 96
+f 88 96 95
+f 88 95 91
+f 92 94 93
+f 97 101 98
+f 98 101 99
+f 99 102 100
+f 99 101 102
+f 100 102 103
+f 101 103 102
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_30.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7a9c19e4fb39333eb415607ce21ba68283acbf
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.12016506 0.00054733 -0.13556477
+v -0.12481118 0.00054695 -0.03135954
+v -0.10292355 0.00054733 -0.13556477
+v -0.12005851 -0.21877028 -0.13556557
+v -0.12492662 -0.21877066 -0.03137365
+v -0.12496880 0.00054691 -0.02253716
+v -0.10267715 0.00054714 -0.08429383
+v -0.10292133 -0.00123451 -0.13556477
+v -0.10293021 -0.21877028 -0.13556557
+v -0.12504426 -0.21877070 -0.02255127
+v -0.12503983 0.00054688 -0.01370147
+v -0.10264385 0.00054711 -0.07547145
+v -0.10244851 -0.21877054 -0.06666317
+v -0.10283032 -0.07894886 -0.13556506
+v -0.10282810 -0.08787957 -0.13556509
+v -0.12507978 -0.21877073 -0.01372889
+v -0.12507978 -0.20984002 -0.01370224
+v -0.12512418 0.00054683 0.00037708
+v -0.12509755 0.00054685 -0.00487909
+v -0.12506647 0.00054687 -0.00981590
+v -0.10264385 0.00054707 -0.06666237
+v -0.10246627 -0.21877057 -0.05784079
+v -0.10265051 0.00054704 -0.05783999
+v -0.12510865 -0.21877078 0.00036297
+v -0.11088169 0.00054683 0.00037708
+v -0.12510865 -0.21516415 0.00037629
+v -0.10305452 -0.17411704 -0.04900494
+v -0.10307228 -0.18304775 -0.04900497
+v -0.10324543 -0.21877060 -0.04900510
+v -0.10289691 0.00054702 -0.05290318
+v -0.10309226 0.00054701 -0.04900430
+v -0.11083951 -0.21877078 0.00037628
+v -0.11077069 -0.21877078 0.00037628
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 25
+f 1 25 31
+f 1 31 30
+f 1 30 23
+f 1 23 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 13
+f 4 13 22
+f 4 22 29
+f 4 29 33
+f 4 33 32
+f 4 32 24
+f 4 24 16
+f 4 16 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 12 13
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+f 7 14 8
+f 9 15 13
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 12 21 13
+f 13 15 14
+f 13 21 23
+f 13 23 22
+f 16 24 18
+f 16 18 17
+f 18 24 26
+f 18 26 32
+f 18 32 33
+f 18 33 25
+f 22 27 28
+f 22 28 29
+f 22 23 30
+f 22 30 31
+f 22 31 27
+f 24 32 26
+f 25 33 31
+f 27 33 28
+f 27 31 33
+f 28 33 29
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_31.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a24986e441765ad5b523c838e21c924fec55ca
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_31.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.10091176 -0.00254516 -0.13610504
+v 0.12007089 -0.00254516 -0.13610504
+v 0.10090701 -0.01298156 -0.13610508
+v 0.10266904 -0.21880974 -0.04901361
+v 0.10266667 -0.00254545 -0.05784033
+v 0.12491055 -0.00254554 -0.03135779
+v 0.12007327 -0.00328608 -0.13610504
+v 0.10089989 -0.03084834 -0.13610514
+v 0.10088089 -0.21876709 -0.13610583
+v 0.10249569 -0.21880971 -0.05784112
+v 0.11078104 -0.21880997 0.01495260
+v 0.11080716 -0.00254571 0.01495339
+v 0.10327459 -0.00254548 -0.04901282
+v 0.10314399 -0.00254547 -0.05087591
+v 0.10089751 -0.03978174 -0.13610518
+v 0.12008040 -0.02231717 -0.13610511
+v 0.12008040 -0.02115286 -0.13610511
+v 0.12007802 -0.01221948 -0.13610507
+v 0.12492717 -0.00254555 -0.02947991
+v 0.12478944 -0.21880980 -0.03138815
+v 0.12006615 -0.21876709 -0.13610583
+v 0.10695301 -0.21880942 -0.13610583
+v 0.10272604 -0.21880951 -0.11077664
+v 0.10242920 -0.21880955 -0.10194912
+v 0.10241970 -0.21880958 -0.09312160
+v 0.10246719 -0.21880968 -0.06663906
+v 0.12479657 -0.21880997 0.01495260
+v 0.12513852 -0.00254571 0.01495339
+v 0.12498653 -0.00254558 -0.02253028
+v 0.12482743 -0.21880984 -0.02256064
+v 0.11979543 -0.21880945 -0.12844645
+v 0.12503641 -0.00254562 -0.01183967
+v 0.12506728 -0.00254564 -0.00487525
+v 0.11453308 -0.21880942 -0.13610583
+v 0.12493905 -0.21880997 0.01493781
+v 0.12493905 -0.21876764 0.01495260
+v 0.12513852 -0.00263039 0.01495339
+v 0.12513852 -0.00254571 0.01464288
+v 0.12488680 -0.21880990 -0.00490561
+v 0.12510290 -0.00254567 0.00393748
+v 0.12511002 -0.00254568 0.00581536
+v 0.12513377 -0.00254571 0.01276500
+v 0.12493429 -0.21880997 0.01274942
+v 0.12491292 -0.21880993 0.00392190
+f 1 2 7
+f 1 7 18
+f 1 18 17
+f 1 17 16
+f 1 16 21
+f 1 21 34
+f 1 34 22
+f 1 22 9
+f 1 9 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
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+f 1 14 13
+f 1 13 12
+f 1 12 28
+f 1 28 38
+f 1 38 42
+f 1 42 41
+f 1 41 40
+f 1 40 33
+f 1 33 32
+f 1 32 29
+f 1 29 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
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+f 4 10 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 34
+f 4 34 31
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+f 4 20 30
+f 4 30 39
+f 4 39 44
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+f 4 35 27
+f 4 27 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 8 15
+f 4 15 9
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 19 20
+f 6 20 21
+f 6 21 16
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 26
+f 9 26 10
+f 11 27 36
+f 11 36 37
+f 11 37 28
+f 11 28 12
+f 19 29 20
+f 20 31 21
+f 20 29 32
+f 20 32 33
+f 20 33 30
+f 21 31 34
+f 27 35 36
+f 28 37 38
+f 30 33 40
+f 30 40 41
+f 30 41 42
+f 30 42 39
+f 35 43 38
+f 35 38 37
+f 35 37 36
+f 38 43 44
+f 38 44 42
+f 39 42 44
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_32.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed48d596719afd8fc1b3e5d4c5db051d258b601d
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.06300966 -0.05184989 -0.15130672
+v -0.06300966 -0.06077359 -0.15130675
+v -0.06300966 0.01343704 -0.15128271
+v -0.05698036 0.03131321 -0.15104894
+v -0.05698036 -0.06742319 -0.15101762
+v -0.06300966 -0.06742318 -0.15130281
+v -0.05698036 0.02236073 -0.15104898
+v -0.06300966 0.03131322 -0.15126283
+v -0.05698036 0.22665582 -0.15088185
+v -0.05214776 0.22665582 -0.15067192
+v -0.05673988 -0.06742319 -0.15099386
+v -0.05224510 0.04918939 -0.15063296
+v -0.05225083 0.03131321 -0.15062510
+v -0.05225941 0.02236073 -0.15062118
+v -0.06300966 -0.06742324 -0.13564473
+v -0.06300966 0.04026570 -0.15124696
+v -0.06300966 0.22665582 -0.15090564
+v -0.06300966 0.05811310 -0.15121521
+v -0.04777609 0.22665581 -0.14802593
+v -0.04788774 0.02236072 -0.14814947
+v -0.04803375 -0.06742320 -0.14820129
+v -0.05240829 -0.06742319 -0.15055813
+v -0.04721782 -0.06742331 -0.11716636
+v -0.04917892 0.22665568 -0.11083946
+v -0.06300966 0.22665575 -0.13076361
+v -0.04711476 0.22665581 -0.14747535
+v -0.04217623 -0.04905766 -0.14382029
+v -0.04219340 -0.05801014 -0.14380844
+v -0.04222203 -0.06693384 -0.14378867
+v -0.04222489 -0.06742321 -0.14378471
+v -0.04544281 0.19997095 -0.11083956
+v -0.03493305 -0.06742331 -0.11716636
+v -0.03376211 0.22665568 -0.11083946
+v -0.04249687 0.22665580 -0.14360935
+v -0.03896976 -0.04905769 -0.13724889
+v -0.03899553 -0.05801017 -0.13724892
+v -0.03921311 -0.06742323 -0.13758961
+v -0.03392243 0.19997095 -0.11083956
+v -0.03689128 -0.06742327 -0.12843559
+v -0.03472119 0.04026557 -0.11739570
+v -0.03468684 0.04026557 -0.11716596
+v -0.03387091 0.22665568 -0.11158414
+v -0.03466966 0.04918927 -0.11716593
+v -0.03471833 0.16522611 -0.11751408
+v -0.03471547 0.17417860 -0.11748235
+v -0.03963109 0.22665577 -0.13725184
+v -0.03942782 0.15627372 -0.13724814
+v -0.03687124 -0.02228663 -0.12843542
+v -0.03686551 -0.04013403 -0.12843549
+v -0.03686838 -0.04905772 -0.12843552
+v -0.03709169 0.22665574 -0.12843055
+v -0.03694281 0.15627369 -0.12843477
+v -0.03904706 -0.06693387 -0.13724896
+v -0.03904992 -0.06742324 -0.13724896
+v -0.03470687 0.04918927 -0.11741548
+v -0.03473837 0.22665570 -0.11731976
+v -0.03556861 0.15627367 -0.12191882
+v -0.03557434 0.16522613 -0.12192670
+v -0.03558007 0.22665572 -0.12173239
+v -0.03547414 0.22665572 -0.12118576
+v -0.03740661 0.22665575 -0.12952776
+v -0.03576902 0.22665572 -0.12258005
+f 1 2 6
+f 1 6 15
+f 1 15 25
+f 1 25 17
+f 1 17 18
+f 1 18 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 7
+f 5 11 22
+f 5 22 21
+f 5 21 30
+f 5 30 37
+f 5 37 54
+f 5 54 39
+f 5 39 32
+f 5 32 23
+f 5 23 15
+f 5 15 6
+f 5 7 12
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+f 5 13 14
+f 5 14 11
+f 7 10 12
+f 8 16 9
+f 9 17 25
+f 9 25 24
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+f 9 62 51
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+f 9 26 19
+f 9 19 10
+f 9 16 18
+f 9 18 17
+f 10 19 20
+f 10 20 21
+f 10 21 12
+f 11 14 22
+f 12 21 13
+f 13 21 14
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 23 31 24
+f 23 32 38
+f 23 38 31
+f 24 31 38
+f 24 38 33
+f 26 34 27
+f 27 35 28
+f 27 34 35
+f 28 35 36
+f 28 36 29
+f 29 37 30
+f 29 36 37
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 32 33 38
+f 33 41 43
+f 33 43 44
+f 33 44 45
+f 33 45 42
+f 34 46 47
+f 34 47 35
+f 35 48 49
+f 35 49 50
+f 35 50 39
+f 35 39 36
+f 35 47 51
+f 35 51 52
+f 35 52 48
+f 36 39 53
+f 36 53 37
+f 37 53 54
+f 39 54 53
+f 39 50 55
+f 39 55 40
+f 40 55 41
+f 41 55 43
+f 42 45 56
+f 43 55 44
+f 44 55 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 56
+f 46 61 47
+f 47 61 51
+f 48 52 57
+f 48 57 49
+f 49 57 55
+f 49 55 50
+f 51 62 52
+f 52 58 57
+f 52 62 59
+f 52 59 58
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_33.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360a49e60573916ca60c01f3412b43a4f7eba845
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_33.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.10724778 -0.00254619 0.14330968
+v 0.10062416 0.00449316 0.14339615
+v 0.10062416 -0.00254619 0.14337992
+v 0.10724778 -0.00254609 0.11723175
+v 0.10724778 0.00449316 0.14331780
+v 0.09186957 0.15620437 0.14376677
+v 0.08311496 0.15620437 0.14383701
+v 0.06362423 0.15620437 0.14395045
+v 0.09186957 -0.00254619 0.14339882
+v 0.06362423 -0.00254611 0.12330148
+v 0.06362423 0.03331883 0.12212926
+v 0.06362423 0.04021833 0.12194291
+v 0.06362423 0.04223845 0.12188889
+v 0.06362423 0.05808865 0.12148105
+v 0.06362423 0.06010877 0.12145135
+v 0.06362423 0.06700827 0.12136764
+v 0.10724350 0.15620447 0.11635443
+v 0.10724778 0.14751794 0.11669746
+v 0.10724778 0.15620437 0.14346963
+v 0.10716236 0.15620437 0.14347233
+v 0.10062416 0.15620437 0.14360200
+v 0.06362423 -0.00254619 0.14345284
+v 0.06560576 -0.00254619 0.14345014
+v 0.07436036 -0.00254619 0.14343394
+v 0.06362423 0.15620444 0.12469320
+v 0.06362423 0.06902839 0.12136494
+v 0.06362423 0.07594342 0.12135956
+v 0.06362423 0.08486304 0.12136770
+v 0.06362423 0.08688316 0.12140283
+v 0.06362423 0.13844290 0.12249972
+v 0.06362423 0.14537348 0.12282120
+v 0.06362423 0.14983328 0.12332095
+v 0.06362423 0.15127845 0.12362350
+v 0.10724778 0.15620447 0.11774557
+f 1 2 3
+f 1 3 9
+f 1 9 24
+f 1 24 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 18
+f 1 18 34
+f 1 34 19
+f 1 19 5
+f 1 5 6
+f 1 6 2
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+f 2 8 3
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+f 4 10 11
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+f 4 12 13
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+f 4 14 15
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+f 4 16 17
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+f 5 21 6
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+f 6 8 7
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+f 8 16 15
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+f 8 12 11
+f 8 11 10
+f 8 10 22
+f 16 26 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 25
+f 17 34 18
+f 17 26 27
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_34.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff09a31eacd02900985853ed6f2b79a98331d209
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_34.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.06300966 -0.25324680 -0.06454605
+v -0.06300966 -0.25312891 -0.08155811
+v -0.06300966 -0.23126765 -0.06454597
+v -0.06365378 -0.25323294 -0.06454605
+v -0.10076039 -0.25417538 -0.11961423
+v -0.06300966 -0.25306649 -0.09038217
+v -0.06300966 -0.23061591 -0.11961415
+v -0.10244629 -0.21877747 -0.06454592
+v -0.07449731 -0.25299727 -0.06454605
+v -0.06300966 -0.25269902 -0.11961423
+v -0.06300966 -0.25281689 -0.11077939
+v -0.06300966 -0.25293129 -0.10194994
+v -0.06300966 -0.25296596 -0.09920085
+v -0.06300966 -0.25303529 -0.09312588
+v -0.10076039 -0.25379419 -0.11077939
+v -0.10951475 -0.25276488 -0.11960346
+v -0.10951475 -0.25276488 -0.11961423
+v -0.10521318 -0.21878072 -0.11961410
+v -0.10454667 -0.21877380 -0.11737709
+v -0.10362810 -0.21877382 -0.11077926
+v -0.10319123 -0.21877386 -0.10194981
+v -0.10270954 -0.21877392 -0.08430708
+v -0.10252471 -0.21877395 -0.07548302
+v -0.10244069 -0.21877399 -0.06665356
+v -0.10619336 -0.21877399 -0.06454592
+v -0.10076039 -0.25159714 -0.06454604
+v -0.10650142 -0.25060250 -0.06454604
+v -0.11437082 -0.25043252 -0.11265524
+v -0.11466767 -0.25067856 -0.11960345
+v -0.11466767 -0.25067856 -0.11961422
+v -0.11960776 -0.21877379 -0.11961410
+v -0.11817390 -0.21877399 -0.06454592
+v -0.10983401 -0.24887314 -0.06454603
+v -0.11587748 -0.24386182 -0.06454602
+v -0.11088140 -0.24832558 -0.06454603
+v -0.11782103 -0.24558058 -0.11960343
+v -0.11782103 -0.24558058 -0.11961420
+v -0.11966376 -0.21878765 -0.11961410
+v -0.11966376 -0.21878765 -0.11960333
+v -0.11866678 -0.22771883 -0.06454596
+v -0.11845395 -0.23664982 -0.06454599
+v -0.12022946 -0.23664962 -0.11961417
+v -0.11996061 -0.22771863 -0.11961414
+v -0.11996061 -0.22771863 -0.11960337
+v -0.11975898 -0.22771866 -0.11077930
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 25
+f 1 25 32
+f 1 32 40
+f 1 40 41
+f 1 41 34
+f 1 34 35
+f 1 35 33
+f 1 33 27
+f 1 27 26
+f 1 26 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 3 7 8
+f 4 9 5
+f 5 10 11
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+f 5 12 13
+f 5 13 14
+f 5 14 6
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+f 5 15 16
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+f 5 17 30
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+f 5 37 42
+f 5 42 43
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+f 5 18 7
+f 5 7 10
+f 7 18 19
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+f 7 20 21
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+f 7 24 8
+f 8 24 25
+f 9 26 15
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 18 31 19
+f 19 31 32
+f 19 32 25
+f 19 25 24
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 27 33 28
+f 28 34 29
+f 28 33 35
+f 28 35 34
+f 29 34 36
+f 29 36 37
+f 29 37 30
+f 31 38 39
+f 31 39 32
+f 32 39 40
+f 34 41 36
+f 36 41 42
+f 36 42 37
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 40 45 42
+f 40 42 41
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_35.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bb0c4c645278b857a410115cd34e73b1de9025
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.06510368 -0.22885667 -0.12906550
+v 0.10272523 -0.21880951 -0.11077571
+v 0.10399484 -0.21880949 -0.11809668
+v 0.10727193 -0.21880945 -0.12906546
+v 0.06510368 -0.25283401 -0.12906559
+v 0.06510368 -0.23129364 -0.06426157
+v 0.10247022 -0.21880968 -0.06426152
+v 0.10246480 -0.21880968 -0.06665320
+v 0.10241597 -0.21880958 -0.09313305
+v 0.10242682 -0.21880955 -0.10195121
+v 0.11981607 -0.21880945 -0.12906546
+v 0.10062550 -0.25406964 -0.12906559
+v 0.06510368 -0.25285128 -0.12842485
+v 0.06510368 -0.25215775 -0.06426165
+v 0.11770549 -0.21880968 -0.06426152
+v 0.12053226 -0.23664663 -0.12842479
+v 0.12052683 -0.23664663 -0.12906553
+v 0.11958276 -0.21880948 -0.11962559
+v 0.12049428 -0.23664666 -0.11960029
+v 0.06510368 -0.25285134 -0.11077584
+v 0.06510368 -0.25288237 -0.11960035
+v 0.06510368 -0.25288237 -0.12010152
+v 0.10874229 -0.25341387 -0.12906559
+v 0.10938252 -0.25313433 -0.11960035
+v 0.10062550 -0.25405238 -0.12842485
+v 0.06510368 -0.25246832 -0.08430868
+v 0.06510368 -0.25259945 -0.09313318
+v 0.08311688 -0.25153649 -0.06426164
+v 0.10062550 -0.25374524 -0.11960035
+v 0.11811242 -0.22772137 -0.06426156
+v 0.11840539 -0.24557904 -0.12842482
+v 0.11839454 -0.24557904 -0.12906556
+v 0.11830774 -0.24557907 -0.11960032
+v 0.11821007 -0.23664686 -0.06426159
+v 0.10938252 -0.25334483 -0.12906559
+v 0.10938252 -0.25334483 -0.12842485
+v 0.11489500 -0.25099096 -0.11960034
+v 0.11459115 -0.25072869 -0.11077583
+v 0.10938252 -0.25259938 -0.11077584
+v 0.10626276 -0.25040441 -0.06426164
+v 0.10207415 -0.25073920 -0.06426164
+v 0.10062550 -0.25083585 -0.06426164
+v 0.11496010 -0.25106342 -0.12842484
+v 0.11494925 -0.25105651 -0.12906558
+v 0.11646844 -0.24220718 -0.06426161
+v 0.11582821 -0.24423665 -0.06426162
+v 0.11455318 -0.25122909 -0.12906558
+v 0.11413541 -0.25035251 -0.10382915
+v 0.11063584 -0.24870284 -0.06426163
+v 0.11213333 -0.24749137 -0.06426163
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 32
+f 1 32 44
+f 1 44 47
+f 1 47 35
+f 1 35 23
+f 1 23 12
+f 1 12 5
+f 1 5 13
+f 1 13 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 26
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+f 1 14 6
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+f 1 10 2
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+f 38 48 49
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+f 43 47 44
+f 46 50 48
+f 48 50 49
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_36.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a21370288046e8ad9dd52f042a96b881df296e
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.10724778 0.15620438 0.14347206
+v 0.09186957 0.16525099 0.14556454
+v 0.10051313 0.15620438 0.14360354
+v 0.10724778 0.15620448 0.11774653
+v 0.10724778 0.16525099 0.14378765
+v 0.09186957 0.17418069 0.14721375
+v 0.08311496 0.16525098 0.14567725
+v 0.09186957 0.15620438 0.14376508
+v 0.10724350 0.15620448 0.11635657
+v 0.10724778 0.15632140 0.11634906
+v 0.10724778 0.17418070 0.14409197
+v 0.10062416 0.17418070 0.14543686
+v 0.08311496 0.17418069 0.14729639
+v 0.06362423 0.16525098 0.14586507
+v 0.10724778 0.21665056 0.14457674
+v 0.09186957 0.21882913 0.14747687
+v 0.08311496 0.21882913 0.14800281
+v 0.07436036 0.21882913 0.14824699
+v 0.06560576 0.21882912 0.14838599
+v 0.06362423 0.21882912 0.14841603
+v 0.08311496 0.15620438 0.14383645
+v 0.06362423 0.15620445 0.12469257
+v 0.10724778 0.21906928 0.11004188
+v 0.06362423 0.17418069 0.14744290
+v 0.06362423 0.15620438 0.14394914
+v 0.10724778 0.21901377 0.14458801
+v 0.10724778 0.21906915 0.14458801
+v 0.09210445 0.21906914 0.14742428
+v 0.09186957 0.21906914 0.14746560
+v 0.08311496 0.21906914 0.14800281
+v 0.07436036 0.21906914 0.14824699
+v 0.06584064 0.21906913 0.14838599
+v 0.06560576 0.21906913 0.14838974
+v 0.06362423 0.21906913 0.14841603
+v 0.06362423 0.21882923 0.11900524
+v 0.06362423 0.21906924 0.11899021
+f 1 2 3
+f 1 3 8
+f 1 8 21
+f 1 21 25
+f 1 25 22
+f 1 22 9
+f 1 9 4
+f 1 4 10
+f 1 10 23
+f 1 23 27
+f 1 27 26
+f 1 26 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 7
+f 6 12 15
+f 6 15 16
+f 6 16 17
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+f 6 20 13
+f 7 14 8
+f 8 14 21
+f 9 22 23
+f 9 23 10
+f 11 15 12
+f 13 24 14
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+f 14 36 35
+f 14 35 22
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+f 18 33 19
+f 19 33 20
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+f 22 35 23
+f 23 35 36
+f 23 36 34
+f 23 34 33
+f 23 33 32
+f 23 32 31
+f 23 31 30
+f 23 30 29
+f 23 29 28
+f 23 28 27
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_37.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6fc81dd0d1feeb78644440f61c340348fb973c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_37.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.06362372 0.27138568 0.00095012
+v 0.07436044 0.27144927 0.00095012
+v 0.06362372 0.24044019 0.00095000
+v 0.06362372 0.27144545 0.02160915
+v 0.07436044 0.27146047 0.00395450
+v 0.07733890 0.27123977 0.00095012
+v 0.08311153 0.27133692 0.03043647
+v 0.10203902 0.23328828 0.00094998
+v 0.09187015 0.23482151 0.10642356
+v 0.09064041 0.23521052 0.10642356
+v 0.08385239 0.23752592 0.10642357
+v 0.06362372 0.24777874 0.10642361
+v 0.06560560 0.27145666 0.02160915
+v 0.06362372 0.27127682 0.10642370
+v 0.07436044 0.27149780 0.02160915
+v 0.08311153 0.27081337 0.00095011
+v 0.08311153 0.27129202 0.03925347
+v 0.09068553 0.26954892 0.03925346
+v 0.09047494 0.26956767 0.03043646
+v 0.07436044 0.27127305 0.10642370
+v 0.10203902 0.25422034 0.00095005
+v 0.10203902 0.23510205 0.10642356
+v 0.06460902 0.27128055 0.10642370
+v 0.06900901 0.27128055 0.10642370
+v 0.08501820 0.27021862 0.00095011
+v 0.07776386 0.27110099 0.10642370
+v 0.08311153 0.27081298 0.10642369
+v 0.09506296 0.26618245 0.03925345
+v 0.08953853 0.26916715 0.10642369
+v 0.08868485 0.26905156 0.00095011
+v 0.10203902 0.25596706 0.02954851
+v 0.10203902 0.25684954 0.10642364
+v 0.10203902 0.25615779 0.03893335
+v 0.09391596 0.26529569 0.10642367
+v 0.10203902 0.25686827 0.10102400
+v 0.10203902 0.25688700 0.09219668
+v 0.10203902 0.25689824 0.08336937
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+f 1 16 25
+f 1 25 30
+f 1 30 21
+f 1 21 8
+f 1 8 3
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+f 1 12 14
+f 1 14 4
+f 1 4 5
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+f 21 30 28
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+f 28 33 31
+f 28 29 34
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+f 28 32 35
+f 28 35 36
+f 28 36 37
+f 28 37 33
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_38.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..befcf746e3d3c9f4fcb8b2432a3c316e6a3bc3fd
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_38.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.06510368 -0.07539992 -0.15128086
+v 0.06510368 -0.07590499 -0.15128086
+v 0.05684368 -0.07590500 -0.15096796
+v 0.05684368 -0.00254511 -0.15095839
+v 0.06510368 -0.00254510 -0.15121243
+v 0.06510368 -0.08482770 -0.15127780
+v 0.05684368 -0.08482771 -0.15096799
+v 0.05213214 -0.01338285 -0.15060837
+v 0.05213510 -0.00446013 -0.15060834
+v 0.05213805 -0.00254511 -0.15060833
+v 0.06510368 -0.00254516 -0.13618088
+v 0.06510368 -0.21753208 -0.15104593
+v 0.05684368 -0.21753208 -0.15083527
+v 0.05231562 -0.21753208 -0.15055335
+v 0.04775501 -0.01338285 -0.14844286
+v 0.04776093 -0.00254511 -0.14844282
+v 0.04811016 -0.00254522 -0.11963441
+v 0.04846826 -0.21753219 -0.11963520
+v 0.06510368 -0.00446018 -0.13617780
+v 0.06510368 -0.21753213 -0.13613831
+v 0.04793850 -0.21753209 -0.14781162
+v 0.04776389 -0.02230556 -0.14843359
+v 0.04188630 -0.02230558 -0.14402203
+v 0.04188334 -0.01338287 -0.14403129
+v 0.04187742 -0.00446015 -0.14403126
+v 0.04187742 -0.00254513 -0.14403125
+v 0.03498176 -0.00254522 -0.11963441
+v 0.03502319 -0.21753219 -0.11963520
+v 0.04715423 -0.21753209 -0.14719201
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+v 0.03866043 -0.06696129 -0.13725303
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+v 0.03861308 -0.04911585 -0.13725296
+v 0.03859236 -0.04017209 -0.13725293
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+v 0.03719251 -0.21753215 -0.12967275
+v 0.03491073 -0.02230567 -0.11963448
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+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 7 8
+f 3 8 9
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+f 4 16 26
+f 4 26 39
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+f 49 60 50
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+f 50 60 61
+f 52 57 56
+f 52 56 53
+f 53 56 55
+f 53 55 62
+f 53 62 54
+f 59 61 60
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_39.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b89609f1467c5ae9dc6cbae899e66e34cd21fce
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_39.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 -0.27195597 -0.02253897
+v -0.06300613 -0.27183763 -0.02253897
+v -0.03947276 -0.27192211 -0.03135325
+v -0.02688201 -0.27187987 -0.02748612
+v -0.02688201 -0.27187573 -0.00489301
+v -0.06300613 -0.27175747 0.01277039
+v -0.06300613 -0.27183338 -0.03135325
+v -0.02688201 -0.27180802 -0.03135325
+v -0.05697955 -0.25262176 -0.13724641
+v -0.02688201 -0.27160539 0.02717632
+v -0.03393778 -0.27163918 0.02717632
+v -0.05144811 -0.27167300 0.02717632
+v -0.06020504 -0.27168568 0.02717632
+v -0.06300613 -0.27168568 0.02717632
+v -0.06300613 -0.25254569 -0.13724641
+v -0.02688201 -0.27071770 -0.03529004
+v -0.05697955 -0.25132436 -0.14402258
+v -0.04822615 -0.25197518 -0.13724641
+v -0.04822615 -0.25073696 -0.14289032
+v -0.04379464 -0.25010306 -0.14174062
+v -0.06300613 -0.25169203 -0.14191481
+v -0.06300613 -0.25129055 -0.14404000
+v -0.02688201 -0.24373515 0.02717642
+v -0.06300613 -0.24761458 0.02717641
+v -0.02688201 -0.26976684 -0.03825137
+v -0.06300613 -0.24779143 -0.14707099
+v -0.05697955 -0.24598272 -0.14842969
+v -0.05245254 -0.24131303 -0.15053745
+v -0.04306961 -0.24558128 -0.14276836
+v -0.04098647 -0.24558130 -0.13724638
+v -0.03880078 -0.24558133 -0.12841468
+v -0.02688201 -0.22878787 0.01423379
+v -0.03129231 -0.22878787 0.01426862
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+v -0.03559297 -0.23665189 -0.12122040
+v -0.03482903 -0.23665191 -0.11681325
+v -0.03386351 -0.23665193 -0.11076868
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+v -0.03133829 -0.23665200 -0.09312272
+v -0.02895807 -0.23665206 -0.07547675
+v -0.02783693 -0.23665210 -0.06664505
+v -0.02688201 -0.23677045 -0.05824885
+v -0.06300613 -0.24165955 -0.15062455
+v -0.06300613 -0.23050300 -0.15076387
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+v -0.03265041 -0.22878745 -0.10193696
+v -0.02695275 -0.22878761 -0.05774365
+v -0.06300613 -0.22878727 -0.15074644
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 25
+f 1 25 41
+f 1 41 65
+f 1 65 81
+f 1 81 53
+f 1 53 32
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+f 1 23 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 14
+f 2 14 24
+f 2 24 36
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+f 2 55 84
+f 2 84 91
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+f 2 42 26
+f 2 26 22
+f 2 22 21
+f 2 21 15
+f 2 15 7
+f 3 8 4
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+f 5 10 11
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+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 9
+f 8 9 17
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+f 8 18 19
+f 8 19 20
+f 8 20 16
+f 9 15 21
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+f 9 22 17
+f 10 23 24
+f 10 24 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 20 25
+f 17 19 18
+f 17 22 26
+f 17 26 27
+f 17 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 25
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 25 31 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 29 50 51
+f 29 51 30
+f 29 49 50
+f 30 51 52
+f 30 52 38
+f 30 38 31
+f 31 38 37
+f 32 53 82
+f 32 82 90
+f 32 90 88
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+f 32 89 87
+f 32 87 86
+f 32 86 85
+f 32 85 80
+f 32 80 79
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+f 32 78 77
+f 32 77 76
+f 32 76 75
+f 32 75 74
+f 32 74 73
+f 32 73 71
+f 32 71 70
+f 32 70 69
+f 32 69 68
+f 32 68 91
+f 32 91 84
+f 32 84 83
+f 32 83 54
+f 32 54 35
+f 32 35 34
+f 32 34 33
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 38 52 58
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 40
+f 38 40 39
+f 40 61 41
+f 41 61 62
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 43 66 44
+f 44 66 45
+f 46 67 47
+f 47 67 68
+f 47 68 69
+f 47 69 48
+f 48 70 71
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 48 69 70
+f 49 74 75
+f 49 75 76
+f 49 76 50
+f 50 76 77
+f 50 77 51
+f 51 77 78
+f 51 78 79
+f 51 79 52
+f 52 79 80
+f 52 80 58
+f 53 81 82
+f 54 83 55
+f 55 83 84
+f 58 85 86
+f 58 86 59
+f 58 80 85
+f 59 86 60
+f 60 86 61
+f 61 86 87
+f 61 87 62
+f 62 87 63
+f 63 88 64
+f 63 87 89
+f 63 89 88
+f 64 88 65
+f 65 88 90
+f 65 90 81
+f 67 91 68
+f 71 73 72
+f 81 90 82
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_4.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16c6d426b99293d3776d89abee5018265103abc
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.00254611 0.12187800
+v -0.00169744 -0.07588169 0.12054554
+v -0.00169744 -0.00254619 0.14365842
+v 0.10753745 -0.00254609 0.11662368
+v -0.00169744 -0.08482076 0.12048434
+v -0.00169744 -0.13097463 0.14378558
+v 0.00283010 -0.13097463 0.14378027
+v 0.00432227 -0.13097463 0.14377760
+v 0.00025386 -0.00254619 0.14365310
+v 0.12858095 -0.00254609 0.11662368
+v 0.10719310 -0.09367182 0.11662335
+v -0.00169744 -0.08762444 0.12049497
+v 0.10716760 -0.10261089 0.11662331
+v 0.10716760 -0.10267375 0.11662331
+v 0.10721861 -0.11161282 0.11662328
+v 0.10728238 -0.12053932 0.11662325
+v 0.10735889 -0.12952868 0.11662321
+v 0.10737165 -0.13097453 0.11662321
+v -0.00169744 -0.13097454 0.12088835
+v 0.01307127 -0.13097463 0.14375101
+v 0.10062498 -0.00254619 0.14337921
+v 0.12859370 -0.00254610 0.11867914
+v 0.12858095 -0.02231011 0.11662361
+v -0.00169744 -0.09374726 0.12052953
+v -0.00169744 -0.12946583 0.12082188
+v 0.12851718 -0.13097453 0.11662321
+v 0.02035360 -0.13097463 0.14371378
+v 0.08163481 -0.13097463 0.14338937
+v 0.08311423 -0.13097463 0.14338140
+v 0.09038381 -0.13097463 0.14333354
+v 0.09186323 -0.13097463 0.14332291
+v 0.10937397 -0.00254619 0.14328880
+v 0.12852994 -0.12053933 0.11867871
+v 0.12852994 -0.12262636 0.11662324
+v 0.12840239 -0.00254613 0.12750459
+v 0.12840239 -0.01338365 0.12750455
+v 0.12837689 -0.12053936 0.12750416
+v 0.12851718 -0.13097454 0.11867867
+v 0.10062498 -0.13097463 0.14319260
+v 0.10937397 -0.01338371 0.14327547
+v 0.11799543 -0.01338370 0.14197253
+v 0.11799543 -0.00254618 0.14197257
+v 0.12536703 -0.00254616 0.13626355
+v 0.12536703 -0.01338368 0.13626351
+v 0.12536703 -0.08482082 0.13621273
+v 0.12536703 -0.11161289 0.13616742
+v 0.12536703 -0.12946589 0.13613544
+v 0.12836414 -0.13097457 0.12750412
+v 0.10937397 -0.13097463 0.14297191
+v 0.11626093 -0.13097462 0.14199604
+v 0.11766384 -0.13097462 0.14179395
+v 0.11798268 -0.02231020 0.14195919
+v 0.12233166 -0.05804135 0.14066942
+v 0.12234442 -0.04910227 0.14067212
+v 0.12235717 -0.04017577 0.14067215
+v 0.12236993 -0.02231020 0.14067487
+v 0.12236993 -0.00444463 0.14067760
+v 0.12236993 -0.00254618 0.14067761
+v 0.12300761 -0.00254617 0.13973895
+v 0.12535427 -0.05804133 0.13625538
+v 0.12535427 -0.13097460 0.13613544
+v 0.12586442 -0.13097459 0.13467827
+v 0.12230615 -0.06695527 0.14065609
+v 0.12203833 -0.13097462 0.14054683
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 25
+f 1 25 19
+f 1 19 6
+f 1 6 3
+f 1 3 9
+f 1 9 21
+f 1 21 32
+f 1 32 42
+f 1 42 58
+f 1 58 59
+f 1 59 43
+f 1 43 35
+f 1 35 22
+f 1 22 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 23
+f 4 23 34
+f 4 34 26
+f 4 26 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 11
+f 4 11 5
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 12
+f 6 19 18
+f 6 18 26
+f 6 26 38
+f 6 38 48
+f 6 48 62
+f 6 62 61
+f 6 61 64
+f 6 64 51
+f 6 51 50
+f 6 50 49
+f 6 49 39
+f 6 39 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 27
+f 6 27 20
+f 6 20 8
+f 6 8 7
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 12 18 24
+f 18 19 25
+f 18 25 24
+f 20 27 21
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 27 28
+f 22 33 34
+f 22 34 23
+f 22 35 36
+f 22 36 37
+f 22 37 33
+f 26 34 38
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 42
+f 33 38 34
+f 33 37 48
+f 33 48 38
+f 35 43 44
+f 35 44 36
+f 36 44 37
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 43 59 44
+f 44 59 57
+f 44 57 56
+f 44 56 60
+f 44 60 45
+f 45 60 56
+f 45 56 55
+f 45 55 46
+f 46 55 47
+f 47 61 62
+f 47 62 48
+f 47 55 54
+f 47 54 53
+f 47 53 63
+f 47 63 64
+f 47 64 61
+f 51 64 63
+f 51 63 52
+f 52 63 53
+f 57 59 58
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_40.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694f04920d4a8ff1d551f4ffdb794e1044e231fe
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.26344241 -0.04222552
+v -0.00169744 -0.25450799 -0.04211256
+v 0.02724361 -0.23685811 -0.06195727
+v 0.02740708 -0.24082275 -0.06195728
+v 0.02768825 -0.24532435 -0.06195730
+v 0.03172928 -0.25191778 -0.06195733
+v -0.00169744 -0.26560300 -0.04113392
+v 0.02766864 -0.22889444 -0.06195724
+v -0.00169744 -0.24571532 -0.03861183
+v 0.03933398 -0.25354144 -0.06195733
+v -0.00169744 -0.27032796 -0.03873238
+v 0.05289560 -0.22889444 -0.06195724
+v -0.00169744 -0.24124810 -0.03555531
+v -0.00169744 -0.23962446 -0.03252889
+v -0.00169744 -0.23890713 -0.03114367
+v 0.01602945 -0.22889452 -0.04017014
+v 0.06510368 -0.25215403 -0.06195733
+v 0.06510368 -0.26994135 -0.03951533
+v 0.01306734 -0.27034514 -0.03873238
+v -0.00169744 -0.27275916 -0.03134706
+v 0.05301331 -0.22889446 -0.05782417
+v 0.06510368 -0.23124403 -0.05782418
+v 0.06510368 -0.23127838 -0.06195725
+v -0.00169744 -0.23720187 -0.02525648
+v -0.00169744 -0.23642442 -0.02253121
+v 0.01328312 -0.22889455 -0.03134690
+v 0.06510368 -0.27185714 -0.03181382
+v 0.01306734 -0.27275916 -0.03134706
+v -0.00169744 -0.27277216 -0.00487732
+v 0.05273213 -0.22889449 -0.04900092
+v 0.06510368 -0.23126984 -0.04900093
+v -0.00169744 -0.23617530 -0.01647841
+v 0.00450141 -0.22889472 0.01276933
+v 0.06510368 -0.27197311 -0.03134706
+v 0.01306734 -0.27276785 -0.00487732
+v 0.00431179 -0.27277216 -0.00487732
+v -0.00169744 -0.27271634 -0.00210688
+v 0.05198016 -0.22889452 -0.04012497
+v 0.06510368 -0.23167365 -0.03943990
+v -0.00169744 -0.23606364 -0.01370797
+v -0.00169744 -0.23550533 0.01276930
+v 0.00450141 -0.22889472 0.01281450
+v 0.06510368 -0.27195166 -0.02303574
+v 0.06510368 -0.27179717 0.01495240
+v 0.01306734 -0.27258748 0.00394592
+v 0.00431179 -0.27258748 0.00394592
+v -0.00169744 -0.27258317 0.00394592
+v 0.03722193 -0.22889471 0.01201649
+v 0.03677075 -0.22889472 0.01346947
+v 0.06510368 -0.23188841 -0.03675981
+v -0.00169744 -0.23561273 0.01495253
+v 0.00460604 -0.22889472 0.01495256
+v 0.06510368 -0.24210736 0.01495251
+v 0.05900291 -0.27180148 0.01495240
+v 0.05024736 -0.27178430 0.01495240
+v 0.04808953 -0.27177998 0.01495240
+v -0.00169744 -0.27163823 0.01495240
+v 0.03567876 -0.22889472 0.01495256
+v 0.06510368 -0.24148023 0.01276928
+v 0.06510368 -0.23923801 0.00419448
+v 0.06510368 -0.23720624 -0.00487719
+v 0.06510368 -0.23228361 -0.03337957
+v 0.06510368 -0.23204306 -0.03493794
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 20
+f 1 20 29
+f 1 29 37
+f 1 37 47
+f 1 47 57
+f 1 57 51
+f 1 51 41
+f 1 41 40
+f 1 40 32
+f 1 32 25
+f 1 25 24
+f 1 24 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 3 8 12
+f 3 12 23
+f 3 23 17
+f 3 17 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 8 9 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 26
+f 8 26 33
+f 8 33 42
+f 8 42 52
+f 8 52 58
+f 8 58 49
+f 8 49 48
+f 8 48 38
+f 8 38 30
+f 8 30 21
+f 8 21 12
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 17 23 22
+f 17 22 31
+f 17 31 39
+f 17 39 50
+f 17 50 63
+f 17 63 62
+f 17 62 61
+f 17 61 60
+f 17 60 59
+f 17 59 53
+f 17 53 44
+f 17 44 43
+f 17 43 34
+f 17 34 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 36
+f 20 36 29
+f 21 30 31
+f 21 31 22
+f 25 32 33
+f 25 33 26
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 29 36 37
+f 30 38 31
+f 31 38 39
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 34 43 35
+f 35 44 45
+f 35 45 36
+f 35 43 44
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 41 51 42
+f 42 51 52
+f 44 53 58
+f 44 58 52
+f 44 52 51
+f 44 51 57
+f 44 57 56
+f 44 56 55
+f 44 55 54
+f 44 54 45
+f 45 54 46
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 49 58 53
+f 49 53 59
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 63
+f 49 63 50
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_41.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de52747075d3010d95a728c7a16d6fc8d8f65f5e
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_41.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.10915850 -0.22317094 0.10578057
+v -0.09729334 -0.22317097 0.11523380
+v -0.10915850 -0.22317108 0.14420314
+v -0.10915850 0.00086592 0.11297820
+v -0.09729334 -0.22317109 0.14617454
+v -0.09729334 0.00086587 0.12454930
+v -0.09729334 -0.22143828 0.14619434
+v -0.09729334 -0.21878422 0.14621810
+v -0.10915850 0.00086580 0.14361808
+v -0.09729334 0.00086580 0.14374871
+v -0.09729334 -0.18305327 0.14592925
+v -0.10429280 0.00086580 0.14368142
+v -0.09729334 -0.17412600 0.14585407
+v -0.10076403 0.00086580 0.14372496
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 13
+f 2 13 11
+f 2 11 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 9 12
+f 4 12 14
+f 4 14 10
+f 4 10 6
+f 8 11 9
+f 9 11 13
+f 9 13 12
+f 10 14 13
+f 12 13 14
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_42.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46116c6288953db1d9f863f1fabc70586bb74e64
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_42.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.12865734 0.21907546 0.10642350
+v 0.10868055 0.21907546 0.10642350
+v 0.12867037 0.21907548 0.10102386
+v 0.12866255 0.22429578 0.10642352
+v 0.10204161 0.23510296 0.10642356
+v 0.10204161 0.23328919 0.00094998
+v 0.11069622 0.21907585 0.00094992
+v 0.12866777 0.21907551 0.09219654
+v 0.12867819 0.22776860 0.10102390
+v 0.12866516 0.22776858 0.10642354
+v 0.10204161 0.25685062 0.10642364
+v 0.10204161 0.25422233 0.00095005
+v 0.12502756 0.21907585 0.00094992
+v 0.12840701 0.21907554 0.08336923
+v 0.12851131 0.23669875 0.08336930
+v 0.12867560 0.22776863 0.09219658
+v 0.12867037 0.23669872 0.09219661
+v 0.12865734 0.23669869 0.10102393
+v 0.12864430 0.23669867 0.10642357
+v 0.11813830 0.25631377 0.10642364
+v 0.11813830 0.25633601 0.10102400
+v 0.10204161 0.25686915 0.10102400
+v 0.10204161 0.25596604 0.02954851
+v 0.10938460 0.25350777 0.00095005
+v 0.12513969 0.23669906 0.00094999
+v 0.12762995 0.24562515 0.08336933
+v 0.12767167 0.24562512 0.09219664
+v 0.12759605 0.24562507 0.10642360
+v 0.12063637 0.25478470 0.10642364
+v 0.12459992 0.25242264 0.09219667
+v 0.10204161 0.25688769 0.09219668
+v 0.12462078 0.25243378 0.08336936
+v 0.11813830 0.25631012 0.09219668
+v 0.10204161 0.25689513 0.08336937
+v 0.10204161 0.25615852 0.03893335
+v 0.11813830 0.25620649 0.08336937
+v 0.11236248 0.25298945 0.00095005
+v 0.12378114 0.24616229 0.00095002
+v 0.12260251 0.25018676 0.00095004
+v 0.12456602 0.25240039 0.10102399
+v 0.12454516 0.25238557 0.10642363
+v 0.12573423 0.24975319 0.10642362
+v 0.11866243 0.25171953 0.00095004
+f 1 2 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 28
+f 1 28 42
+f 1 42 41
+f 1 41 29
+f 1 29 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 5 11 22
+f 5 22 31
+f 5 31 34
+f 5 34 35
+f 5 35 23
+f 5 23 12
+f 5 12 6
+f 6 12 24
+f 6 24 37
+f 6 37 43
+f 6 43 39
+f 6 39 38
+f 6 38 25
+f 6 25 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 21
+f 11 21 22
+f 12 23 24
+f 13 25 14
+f 14 25 15
+f 15 26 17
+f 15 17 16
+f 15 25 26
+f 17 27 18
+f 17 26 27
+f 18 27 19
+f 19 27 28
+f 20 29 30
+f 20 30 21
+f 21 31 22
+f 21 30 32
+f 21 32 33
+f 21 33 34
+f 21 34 31
+f 23 35 36
+f 23 36 24
+f 24 36 37
+f 25 38 26
+f 26 32 27
+f 26 38 39
+f 26 39 32
+f 27 30 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 27 32 30
+f 29 41 40
+f 29 40 30
+f 32 36 33
+f 32 39 36
+f 33 36 34
+f 34 36 35
+f 36 39 43
+f 36 43 37
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_43.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d496daaebad913f72e4480ff76f3fd881e3456
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_43.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.05356485 -0.24354870 0.01496162
+v 0.07441528 -0.23821335 0.01496163
+v 0.05356485 -0.27179020 0.01496151
+v 0.05356485 -0.24752860 0.10807808
+v 0.08259076 -0.23660868 0.10807812
+v 0.08311030 -0.23603670 0.01496164
+v 0.05684877 -0.27179755 0.01496151
+v 0.05508918 -0.27157435 0.10807799
+v 0.05356485 -0.27157434 0.10653744
+v 0.05356485 -0.27157071 0.10807799
+v 0.08294366 -0.23652075 0.10807812
+v 0.10363233 -0.23444267 0.01496165
+v 0.09186905 -0.23436975 0.10807813
+v 0.05901027 -0.27180122 0.01496151
+v 0.05684877 -0.27157435 0.10807799
+v 0.07436136 -0.27179023 0.02160683
+v 0.10363233 -0.25392995 0.01496158
+v 0.10363233 -0.23459694 0.10807813
+v 0.07436136 -0.27180122 0.01496151
+v 0.06560751 -0.27157071 0.10807799
+v 0.08311030 -0.27133589 0.03043079
+v 0.07436136 -0.27152303 0.10102247
+v 0.08842339 -0.26870113 0.01496152
+v 0.10363233 -0.25537012 0.03017561
+v 0.09501083 -0.26608484 0.03925476
+v 0.09033002 -0.26943041 0.03043080
+v 0.10363233 -0.25601534 0.10807805
+v 0.07652286 -0.27159601 0.01496151
+v 0.07436136 -0.27149741 0.10807799
+v 0.08311030 -0.27095111 0.02160683
+v 0.09063390 -0.26939380 0.03925475
+v 0.08311030 -0.27126629 0.03925474
+v 0.08457581 -0.27016689 0.01496152
+v 0.10363233 -0.25642563 0.07682045
+v 0.10363233 -0.25657224 0.08337460
+v 0.08926642 -0.26890669 0.10807800
+v 0.08311030 -0.27065059 0.01496152
+v 0.08311030 -0.27098062 0.07455059
+v 0.08311030 -0.27067291 0.10807800
+v 0.08801658 -0.26926579 0.10807800
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 23
+f 1 23 33
+f 1 33 37
+f 1 37 28
+f 1 28 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 8
+f 4 8 15
+f 4 15 20
+f 4 20 29
+f 4 29 39
+f 4 39 40
+f 4 40 36
+f 4 36 27
+f 4 27 18
+f 4 18 13
+f 4 13 11
+f 4 11 5
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 8
+f 8 10 9
+f 8 14 16
+f 8 16 15
+f 12 13 18
+f 12 18 27
+f 12 27 35
+f 12 35 34
+f 12 34 24
+f 12 24 17
+f 14 19 16
+f 15 16 20
+f 16 19 21
+f 16 21 22
+f 16 22 20
+f 17 24 25
+f 17 25 26
+f 17 26 23
+f 19 28 21
+f 20 22 29
+f 21 28 30
+f 21 30 26
+f 21 26 31
+f 21 31 32
+f 21 32 29
+f 21 29 22
+f 23 26 33
+f 24 34 25
+f 25 31 26
+f 25 34 35
+f 25 35 27
+f 25 27 36
+f 25 36 31
+f 26 30 37
+f 26 37 33
+f 28 37 30
+f 29 38 39
+f 29 32 38
+f 31 36 40
+f 31 40 39
+f 31 39 38
+f 31 38 32
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_44.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad0b7ecece02bdac47315f7a1122abaa0a9d1df
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_44.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.06300613 0.27150989 0.02717832
+v -0.03947276 0.27131199 0.02717832
+v -0.06300613 0.24539204 0.02717822
+v -0.06300613 0.27119910 0.10102794
+v -0.02688201 0.27107424 0.10985107
+v -0.02688201 0.27111081 0.10102794
+v -0.02688201 0.27119629 0.03043373
+v -0.03071582 0.27119327 0.02717832
+v -0.02688201 0.24209193 0.02717821
+v -0.06300613 0.24040804 0.11981666
+v -0.06300613 0.27114122 0.10985107
+v -0.06300613 0.27108027 0.11867422
+v -0.05697955 0.27105897 0.11867422
+v -0.04822615 0.27101940 0.11867422
+v -0.03947276 0.27092501 0.11867422
+v -0.02688201 0.27088242 0.11481126
+v -0.02688201 0.27106237 0.02717832
+v -0.02688201 0.24434748 0.11981668
+v -0.06300613 0.27102243 0.11981678
+v -0.05697955 0.27100113 0.11981678
+v -0.04935437 0.27096765 0.11981678
+v -0.04822615 0.27095852 0.11981678
+v -0.04060097 0.27087630 0.11981677
+v -0.02688201 0.27067537 0.11867421
+v -0.02688201 0.27048664 0.11981677
+v -0.03184404 0.27066017 0.11981677
+f 1 2 8
+f 1 8 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 7
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 24
+f 5 24 25
+f 5 25 18
+f 5 18 9
+f 5 9 17
+f 5 17 7
+f 5 7 6
+f 7 17 8
+f 9 18 10
+f 10 18 25
+f 10 25 26
+f 10 26 23
+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 16
+f 15 23 24
+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_45.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ca2b92cd9a163d538a7471d24af50322ea7e00
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_45.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.20092595 -0.04959556
+v -0.00169744 -0.20985698 -0.04950525
+v -0.00169744 -0.19205980 -0.04941485
+v 0.02780257 -0.19205975 -0.06193452
+v 0.02766331 -0.22889443 -0.06195724
+v -0.00169744 -0.21265851 -0.04928694
+v -0.00169744 -0.19205987 -0.03095530
+v 0.02807571 -0.19205975 -0.06195711
+v 0.02793646 -0.19790440 -0.06195713
+v 0.05289470 -0.22889443 -0.06195724
+v 0.01603041 -0.22889451 -0.04017014
+v -0.00169744 -0.22881521 -0.03134690
+v -0.00169744 -0.22831402 -0.03739971
+v -0.00169744 -0.22807964 -0.04017014
+v -0.00169744 -0.22614344 -0.04443872
+v -0.00169744 -0.22526366 -0.04637351
+v -0.00169744 -0.22081075 -0.04805231
+v -0.00169744 -0.21878441 -0.04879762
+v -0.00169744 -0.21393874 0.01495261
+v 0.01966168 -0.21178619 0.01495262
+v 0.03216758 -0.19205988 -0.02617478
+v 0.04524120 -0.19205975 -0.06195711
+v 0.05301789 -0.22889445 -0.05782417
+v 0.01328287 -0.22889454 -0.03134690
+v 0.00449928 -0.22889471 0.01276933
+v -0.00169744 -0.22881538 0.01276933
+v -0.00169744 -0.22880457 0.01495256
+v 0.02201825 -0.21168885 0.01495262
+v 0.03590061 -0.19205988 -0.02617478
+v 0.04520371 -0.19205977 -0.05782404
+v 0.05272867 -0.22889448 -0.04900092
+v 0.00460640 -0.22889471 0.01495256
+v 0.03034659 -0.21255058 0.01495262
+v 0.03452951 -0.21562975 0.01495261
+v 0.03971397 -0.19205986 -0.03135430
+v 0.04475917 -0.19205980 -0.04900079
+v 0.05197885 -0.22889451 -0.04012497
+v 0.03567566 -0.22889471 0.01495256
+v 0.03490442 -0.21712608 0.01495260
+v 0.03595952 -0.21895049 0.01298769
+v 0.03548820 -0.21370076 0.01018716
+v 0.04313635 -0.19205984 -0.03824275
+v 0.04407362 -0.19205982 -0.04264685
+v 0.04406827 -0.19205982 -0.04261673
+v 0.03562210 -0.22027375 0.01495259
+v 0.03721814 -0.22889470 0.01201649
+v 0.03595416 -0.22690082 0.01495257
+v 0.03677361 -0.22889471 0.01346947
+v 0.03595416 -0.22579750 0.01495257
+f 1 2 6
+f 1 6 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 26
+f 1 26 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 21
+f 3 21 29
+f 3 29 35
+f 3 35 42
+f 3 42 44
+f 3 44 43
+f 3 43 36
+f 3 36 30
+f 3 30 22
+f 3 22 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 8
+f 5 8 22
+f 5 22 10
+f 5 10 23
+f 5 23 31
+f 5 31 37
+f 5 37 46
+f 5 46 48
+f 5 48 38
+f 5 38 32
+f 5 32 25
+f 5 25 24
+f 5 24 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 7 19 20
+f 7 20 21
+f 10 22 23
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 19 27 32
+f 19 32 38
+f 19 38 47
+f 19 47 49
+f 19 49 45
+f 19 45 39
+f 19 39 34
+f 19 34 33
+f 19 33 28
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 22 30 23
+f 23 30 31
+f 25 32 26
+f 26 32 27
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 30 36 31
+f 31 36 37
+f 34 39 40
+f 34 40 41
+f 34 41 35
+f 35 41 42
+f 36 43 37
+f 37 43 44
+f 37 44 42
+f 37 42 40
+f 37 40 45
+f 37 45 46
+f 38 48 47
+f 39 45 40
+f 40 42 41
+f 45 49 48
+f 45 48 46
+f 47 48 49
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_46.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eb946fbf939c81976ac04e45d998bfa9fc4a278
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_46.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.07586188 -0.03307020
+v -0.02484496 -0.07586188 -0.03380309
+v -0.00169744 -0.06471908 -0.02488087
+v -0.02491645 -0.05561868 -0.01614984
+v -0.02687848 -0.05561868 -0.01614984
+v -0.02687848 -0.07586178 -0.05908260
+v -0.00169744 -0.06718696 -0.03135477
+v -0.00169744 -0.06641575 -0.02931010
+v -0.02282378 -0.07586185 -0.04013890
+v -0.00169744 -0.03140763 -0.01335096
+v -0.02687848 -0.03156190 -0.00598485
+v -0.02687848 -0.03824227 -0.00830570
+v -0.02687848 -0.06691028 -0.05974111
+v -0.00169744 -0.04909239 -0.05851955
+v -0.00169744 -0.05190071 -0.05799910
+v -0.00169744 -0.05802794 -0.05683074
+v -0.00169744 -0.05975654 -0.05605006
+v -0.00169744 -0.06344778 -0.05438247
+v -0.00169744 -0.06536788 -0.04899731
+v -0.02500025 -0.07586180 -0.05567837
+v -0.02281392 -0.07586185 -0.04017608
+v -0.02297906 -0.07586182 -0.04896018
+v -0.02298153 -0.07586182 -0.04899735
+v -0.00169744 -0.06700610 -0.03740380
+v -0.00169744 -0.02555697 -0.01404134
+v -0.02687848 -0.02878018 -0.00605919
+v -0.02687848 -0.05802793 -0.06016063
+v -0.00169744 -0.04016749 -0.05842393
+v -0.02687848 -0.04909238 -0.06023495
+v -0.02687848 -0.04016748 -0.06017650
+v -0.00169744 -0.06687844 -0.04017605
+v -0.02687848 -0.02226465 -0.01343589
+v -0.02687848 -0.02356245 -0.00773739
+v -0.02687848 -0.02422731 -0.00664867
+v -0.00169744 -0.02432298 -0.02252803
+v -0.02687848 -0.03346582 -0.05948075
+v -0.02687848 -0.03123725 -0.05905588
+v -0.00169744 -0.03404026 -0.05715993
+v -0.02687848 -0.02198275 -0.01672329
+v -0.00169744 -0.02419001 -0.02530028
+v -0.02687848 -0.02606741 -0.05721832
+v -0.00169744 -0.03123726 -0.05658103
+v -0.02687848 -0.02176996 -0.02557643
+v -0.00169744 -0.02355169 -0.04017589
+v -0.02687848 -0.02398245 -0.05623050
+v -0.00169744 -0.02595573 -0.05422833
+v -0.00169744 -0.02763646 -0.05498247
+v -0.02687848 -0.02162100 -0.03440833
+v -0.00169744 -0.02376975 -0.04294283
+v -0.02687848 -0.02201454 -0.04899715
+v -0.02687848 -0.02152524 -0.04017588
+v -0.00169744 -0.02425374 -0.04899716
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 26
+f 1 26 34
+f 1 34 33
+f 1 33 32
+f 1 32 39
+f 1 39 43
+f 1 43 48
+f 1 48 51
+f 1 51 50
+f 1 50 45
+f 1 45 41
+f 1 41 37
+f 1 37 36
+f 1 36 30
+f 1 30 29
+f 1 29 27
+f 1 27 13
+f 1 13 6
+f 1 6 20
+f 1 20 23
+f 1 23 22
+f 1 22 21
+f 1 21 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 7
+f 3 7 24
+f 3 24 31
+f 3 31 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 28
+f 3 28 38
+f 3 38 42
+f 3 42 47
+f 3 47 46
+f 3 46 52
+f 3 52 49
+f 3 49 44
+f 3 44 40
+f 3 40 35
+f 3 35 25
+f 3 25 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 7 9 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 10 25 26
+f 10 26 11
+f 13 27 14
+f 14 27 29
+f 14 29 30
+f 14 30 28
+f 19 31 20
+f 20 31 23
+f 23 31 24
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 25 35 32
+f 28 30 36
+f 28 36 37
+f 28 37 38
+f 32 35 39
+f 35 40 39
+f 37 41 42
+f 37 42 38
+f 39 40 44
+f 39 44 43
+f 41 45 46
+f 41 46 47
+f 41 47 42
+f 43 44 48
+f 44 49 50
+f 44 50 51
+f 44 51 48
+f 45 50 52
+f 45 52 46
+f 49 52 50
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_47.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140dc4b337e02798e0b23716bcb4f7b370699c86
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_47.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03498153 -0.00254522 -0.11962876
+v 0.04810615 -0.00254522 -0.11962876
+v 0.03497714 -0.00347116 -0.11962876
+v 0.03462817 -0.00254523 -0.11751157
+v 0.04904770 -0.00254543 -0.06195642
+v 0.04906526 -0.00446045 -0.06195643
+v 0.04846609 -0.21753219 -0.11962955
+v 0.03497275 -0.00446024 -0.11962877
+v 0.03401364 -0.00254525 -0.11218754
+v 0.03460184 -0.01338297 -0.11763582
+v 0.02664586 -0.05803883 -0.06195662
+v 0.02683900 -0.04911612 -0.06195659
+v 0.03380075 -0.00254543 -0.06195642
+v 0.04541099 -0.21753240 -0.06195721
+v 0.03502323 -0.21753219 -0.11962955
+v 0.03493983 -0.01338296 -0.11962880
+v 0.03458208 -0.02230568 -0.11773747
+v 0.03385123 -0.00254525 -0.11077607
+v 0.03456672 -0.03124944 -0.11781654
+v 0.03455794 -0.04017216 -0.11785611
+v 0.03456453 -0.21753220 -0.11737121
+v 0.03377441 -0.21753222 -0.11170278
+v 0.03364712 -0.21753222 -0.11077686
+v 0.03261120 -0.21753226 -0.10195240
+v 0.02736135 -0.14732914 -0.06195695
+v 0.02686753 -0.04873732 -0.06195659
+v 0.03306990 -0.00254529 -0.10195161
+v 0.03301064 -0.00254542 -0.06665376
+v 0.02910179 -0.02891374 -0.06195652
+v 0.02803733 -0.21753240 -0.06195721
+v 0.03486960 -0.04017215 -0.11962890
+v 0.03490910 -0.02230567 -0.11962883
+v 0.03488276 -0.03124943 -0.11962886
+v 0.02769276 -0.18306208 -0.06195708
+v 0.02758082 -0.04017236 -0.06195656
+v 0.03251024 -0.00254532 -0.09312715
+v 0.03210640 -0.00254538 -0.07547823
+v 0.02875721 -0.03124964 -0.06195652
+v 0.02769276 -0.03907807 -0.06195655
+v 0.03212396 -0.00254535 -0.08430833
+f 1 2 7
+f 1 7 15
+f 1 15 31
+f 1 31 33
+f 1 33 32
+f 1 32 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 27
+f 1 27 36
+f 1 36 40
+f 1 40 37
+f 1 37 28
+f 1 28 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 5 13 29
+f 5 29 38
+f 5 38 39
+f 5 39 35
+f 5 35 26
+f 5 26 12
+f 5 12 11
+f 5 11 25
+f 5 25 34
+f 5 34 30
+f 5 30 14
+f 5 14 6
+f 6 14 7
+f 7 14 30
+f 7 30 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 15
+f 8 16 17
+f 8 17 10
+f 9 12 18
+f 10 17 11
+f 11 17 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 12 26 27
+f 12 27 18
+f 13 28 29
+f 15 21 31
+f 16 32 17
+f 17 32 19
+f 19 32 33
+f 19 33 20
+f 20 33 31
+f 20 31 21
+f 24 30 34
+f 24 34 25
+f 26 35 36
+f 26 36 27
+f 28 37 29
+f 29 37 38
+f 35 39 40
+f 35 40 36
+f 37 40 39
+f 37 39 38
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_48.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1976d255c09a20a97600dfc15a6e9625e0063a
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_48.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.06300966 0.00088773 0.14385796
+v -0.06574044 0.00088773 0.14385796
+v -0.06300966 0.00088780 0.12435437
+v -0.06300966 0.15616226 0.14431161
+v -0.07449658 0.00088773 0.14383983
+v -0.10599515 0.00088782 0.11911924
+v -0.06300966 0.06701932 0.12265618
+v -0.06300966 0.15616233 0.12529996
+v -0.06589191 0.15616226 0.14428313
+v -0.10076081 0.00088773 0.14372591
+v -0.09200467 0.00088773 0.14378805
+v -0.08325273 0.00088773 0.14381912
+v -0.07802681 0.00088773 0.14383206
+v -0.06300966 0.07594121 0.12244909
+v -0.10599515 0.00088773 0.14366119
+v -0.10599515 0.14737724 0.11788738
+v -0.06300966 0.14818278 0.12367398
+v -0.10599515 0.15616236 0.11787187
+v -0.10076081 0.15616226 0.14373943
+v -0.10429105 0.00088773 0.14368448
+v -0.10599515 0.15433847 0.11786152
+v -0.06300966 0.08343440 0.12247760
+v -0.10599515 0.15616226 0.14365658
+v -0.06300966 0.14678445 0.12343837
+v -0.06300966 0.14371423 0.12296974
+v -0.06300966 0.14207272 0.12292054
+f 1 2 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 20
+f 1 20 15
+f 1 15 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 26
+f 1 26 25
+f 1 25 24
+f 1 24 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 18
+f 4 18 23
+f 4 23 19
+f 4 19 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 6 14 7
+f 6 15 23
+f 6 23 18
+f 6 18 21
+f 6 21 16
+f 6 16 14
+f 8 17 18
+f 9 19 15
+f 9 15 20
+f 9 20 10
+f 14 16 21
+f 14 21 22
+f 15 19 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 22
+f 18 22 21
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_49.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1928a166d8afbe9679b11956931bd33e6dc1929e
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_49.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01809293 -0.06913813 -0.03135138
+v 0.01809293 -0.06716785 -0.02478837
+v -0.00169550 -0.06718640 -0.03135138
+v -0.00169550 -0.06700581 -0.03740871
+v 0.01809293 -0.06873447 -0.04017912
+v 0.01809293 -0.06648276 -0.02297874
+v -0.00169550 -0.06641900 -0.02930697
+v -0.00169550 -0.06687835 -0.04017912
+v 0.01809293 -0.06800952 -0.04899963
+v 0.01809293 -0.05863071 -0.02301485
+v -0.00169550 -0.06034344 -0.02488225
+v -0.00169550 -0.06472221 -0.02488227
+v -0.00169550 -0.06537004 -0.04899962
+v 0.01809293 -0.06748109 -0.05065393
+v 0.01809293 -0.04201311 -0.03136573
+v -0.00169550 -0.04201309 -0.03851388
+v -0.00169550 -0.06345016 -0.05438511
+v 0.01809293 -0.06553465 -0.05590577
+v 0.01809293 -0.04201301 -0.05961159
+v -0.00169550 -0.04201302 -0.05844130
+v -0.00169550 -0.05802780 -0.05683403
+v 0.01809293 -0.06291641 -0.05713745
+v 0.01809293 -0.04529510 -0.05981750
+v 0.01809293 -0.04909765 -0.05987891
+v -0.00169550 -0.04909766 -0.05852441
+v -0.00169550 -0.05190177 -0.05799707
+v 0.01809293 -0.05802779 -0.05891093
+v 0.01809293 -0.05422524 -0.05953579
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 27
+f 1 27 28
+f 1 28 24
+f 1 24 23
+f 1 23 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 16
+f 3 16 20
+f 3 20 25
+f 3 25 26
+f 3 26 21
+f 3 21 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 21 26 27
+f 21 27 22
+f 24 28 25
+f 25 28 27
+f 25 27 26
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_5.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84bab3a5a19585916b78b469963855bf9691e29d
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_5.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.10363967 -0.25656281 0.08337417
+v 0.11813748 -0.25641530 0.08337417
+v 0.10363967 -0.25613271 0.12705733
+v 0.10363967 -0.25537017 0.03017422
+v 0.10938367 -0.25335402 0.01495247
+v 0.11149102 -0.25294834 0.01495247
+v 0.11864968 -0.25144855 0.01495248
+v 0.12241804 -0.24991190 0.01495248
+v 0.12461075 -0.25241999 0.08337418
+v 0.12460344 -0.25242002 0.09219214
+v 0.12458637 -0.25239546 0.10102279
+v 0.12455222 -0.25235861 0.10984074
+v 0.12447905 -0.25228489 0.11867140
+v 0.11813748 -0.25593599 0.11867139
+v 0.10938367 -0.25581309 0.12750205
+v 0.10363967 -0.25551807 0.13053878
+v 0.10363967 -0.25391950 0.01495247
+v 0.12248389 -0.24970291 0.01495248
+v 0.12754252 -0.24557263 0.08337421
+v 0.12760349 -0.24557266 0.09219217
+v 0.12758154 -0.24557269 0.10102282
+v 0.12754008 -0.24557272 0.10984077
+v 0.12745227 -0.24557276 0.11867143
+v 0.12682787 -0.24557279 0.12750209
+v 0.12401806 -0.25175631 0.12750207
+v 0.11813748 -0.25517384 0.12750205
+v 0.10938367 -0.25425187 0.13632001
+v 0.10363967 -0.25415353 0.13632001
+v 0.10363967 -0.23443465 0.01495254
+v 0.12356684 -0.24606410 0.01495250
+v 0.12494979 -0.23664745 0.01495253
+v 0.12836691 -0.23664771 0.08337424
+v 0.12853521 -0.23664774 0.09219220
+v 0.12852789 -0.23664777 0.10102285
+v 0.12850351 -0.23664780 0.10984080
+v 0.12847424 -0.23664784 0.11867146
+v 0.12816692 -0.23664787 0.12750212
+v 0.12439124 -0.24557282 0.13487156
+v 0.12324488 -0.25087121 0.13318165
+v 0.11776918 -0.25211284 0.13620566
+v 0.11460815 -0.25053933 0.14111018
+v 0.10938367 -0.25127692 0.14178360
+v 0.10363967 -0.25154737 0.14215206
+v 0.11085199 -0.13099901 0.01495292
+v 0.10363967 -0.13099940 0.11951045
+v 0.12494979 -0.23443465 0.01495254
+v 0.12839863 -0.14734932 0.08337457
+v 0.12839619 -0.15627425 0.08337454
+v 0.12854741 -0.22771052 0.09219223
+v 0.12855473 -0.22771055 0.10102288
+v 0.12849375 -0.22771062 0.11867149
+v 0.12834009 -0.20092359 0.12750225
+v 0.12831813 -0.20984852 0.12750222
+v 0.12827423 -0.21878573 0.12750219
+v 0.12852546 -0.22771058 0.10984083
+v 0.12524004 -0.22771068 0.13626928
+v 0.12519614 -0.23664790 0.13609137
+v 0.12209121 -0.23664792 0.14050033
+v 0.12059361 -0.24557283 0.13928054
+v 0.11621549 -0.24557284 0.14169468
+v 0.10938367 -0.24557285 0.14347351
+v 0.10363967 -0.24557285 0.14423586
+v 0.12494003 -0.13099901 0.01495292
+v 0.10363967 -0.13099949 0.14311816
+v 0.12839863 -0.13841211 0.08337460
+v 0.12839619 -0.13099927 0.08337463
+v 0.12848156 -0.13841214 0.09219256
+v 0.12850107 -0.13099933 0.09952393
+v 0.12850594 -0.13099933 0.10102324
+v 0.12852058 -0.13099936 0.10835459
+v 0.12852302 -0.13099936 0.10984119
+v 0.12855229 -0.21878563 0.10102292
+v 0.12852789 -0.13099940 0.11867185
+v 0.12852058 -0.20984849 0.11867156
+v 0.12851082 -0.21878570 0.11867153
+v 0.12834985 -0.18307375 0.12750232
+v 0.12534004 -0.20092362 0.13624396
+v 0.12532053 -0.20984855 0.13625663
+v 0.12528394 -0.21878576 0.13626932
+v 0.12240828 -0.22771070 0.14067826
+v 0.11771308 -0.23664792 0.14208860
+v 0.10938367 -0.23664793 0.14400720
+v 0.10363967 -0.24249953 0.14441376
+v 0.10363967 -0.17106328 0.14421073
+v 0.10938367 -0.13099949 0.14296569
+v 0.12846204 -0.13099929 0.09070598
+v 0.12847424 -0.13099930 0.09219259
+v 0.12852789 -0.13099939 0.11718525
+v 0.12839863 -0.13099942 0.12600320
+v 0.12837180 -0.13099943 0.12750251
+v 0.12836936 -0.13841227 0.12750248
+v 0.12836204 -0.15627441 0.12750242
+v 0.12534492 -0.19199871 0.13623128
+v 0.12240340 -0.21878578 0.14067830
+v 0.11803015 -0.22771070 0.14206320
+v 0.10363967 -0.17413660 0.14426153
+v 0.10363967 -0.21878579 0.14466797
+v 0.10363967 -0.23664793 0.14474413
+v 0.11802528 -0.21878578 0.14203784
+v 0.11766918 -0.13099948 0.14178404
+v 0.11626915 -0.13099948 0.14198732
+v 0.12536687 -0.13099946 0.13612987
+v 0.12237170 -0.20984857 0.14066561
+v 0.12233755 -0.20092364 0.14065294
+v 0.12230096 -0.19199873 0.14064026
+v 0.12226194 -0.18307380 0.14062760
+v 0.12204730 -0.13099948 0.14053885
+v 0.11840821 -0.13099948 0.14158073
+v 0.12480344 -0.13099946 0.13687952
+f 1 2 3
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+f 1 28 43
+f 1 43 62
+f 1 62 83
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+f 1 96 84
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+f 29 45 44
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+f 31 47 48
+f 31 48 32
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+f 32 49 33
+f 33 49 50
+f 33 50 34
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+f 36 51 52
+f 36 52 53
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+f 36 54 37
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+f 36 55 51
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+f 38 57 58
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+f 38 59 39
+f 39 59 41
+f 39 41 40
+f 41 59 60
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+f 42 61 62
+f 42 62 43
+f 44 45 64
+f 44 64 85
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+f 49 72 50
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+f 50 75 55
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+f 77 93 80
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+f 78 80 79
+f 80 94 95
+f 80 95 81
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+f 81 95 82
+f 82 96 97
+f 82 97 98
+f 82 98 83
+f 82 95 99
+f 82 99 100
+f 82 100 96
+f 84 96 85
+f 85 96 101
+f 90 102 93
+f 93 102 94
+f 94 103 95
+f 94 102 103
+f 95 103 104
+f 95 104 105
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+f 95 106 107
+f 95 107 99
+f 96 100 101
+f 99 107 108
+f 99 108 100
+f 102 109 105
+f 102 105 104
+f 102 104 103
+f 105 109 107
+f 105 107 106
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_50.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3fccdeeed003620bd79ca6b29c84bff9db01bb4
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_50.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.14733845 -0.06050757
+v -0.00169744 -0.19199434 -0.04941307
+v -0.00169744 -0.19206260 -0.04941307
+v -0.02687848 -0.15626735 -0.06047277
+v -0.02687848 -0.09486839 -0.06013813
+v -0.00169744 -0.18305408 -0.04874073
+v -0.02687848 -0.08615561 -0.05975493
+v -0.02687848 -0.07586178 -0.05908607
+v -0.00169744 -0.19206267 -0.03096143
+v -0.02687848 -0.19206256 -0.06018030
+v -0.00169744 -0.17693465 -0.04805099
+v -0.02687848 -0.07586188 -0.03306846
+v -0.02500025 -0.07586180 -0.05567930
+v -0.00169744 -0.11204380 -0.03758658
+v -0.00169744 -0.11496702 -0.03848531
+v -0.00169744 -0.12055183 -0.04019568
+v -0.00169744 -0.16519629 -0.04653567
+v -0.00169744 -0.16799440 -0.04690840
+v -0.00169744 -0.17412517 -0.04772354
+v -0.02205720 -0.19206267 -0.02986763
+v -0.00169744 -0.11855000 -0.02492440
+v -0.02687848 -0.19206267 -0.02964121
+v -0.02195614 -0.12948077 -0.02942153
+v -0.01043538 -0.11508080 -0.02660687
+v -0.00444823 -0.11334052 -0.02542599
+v -0.00169744 -0.11258982 -0.02506371
+v -0.02484496 -0.07586188 -0.03380694
+v -0.02298153 -0.07586182 -0.04900159
+v -0.00169744 -0.10901823 -0.03135474
+v -0.00444823 -0.11824289 -0.02542600
+v -0.02195614 -0.13839829 -0.02924739
+v -0.02282378 -0.07586185 -0.04013979
+v -0.02297906 -0.07586182 -0.04895979
+v -0.02281392 -0.07586185 -0.04017811
+f 1 2 3
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+f 1 22 12
+f 1 12 8
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+f 1 7 5
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_51.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd53bbf7133099e6812de69b740dab912c4a02c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_51.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_52.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc96ec07dd7c265eccd82a6d7f3d061c8e4b4a40
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_52.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_53.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af80500ab4fa271671b10d7bebbcc5b00f43d4b6
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_53.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+f 28 50 38
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+f 29 56 70
+f 29 70 87
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+f 29 91 81
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+f 32 53 33
+f 33 53 34
+f 34 54 39
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+f 36 55 51
+f 36 51 37
+f 36 56 55
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+f 39 58 40
+f 40 58 44
+f 44 59 45
+f 44 58 60
+f 44 60 61
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+f 46 62 47
+f 46 59 62
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+f 47 63 48
+f 48 63 50
+f 48 50 49
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+f 54 68 69
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+f 60 73 74
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+f 60 76 73
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+f 68 79 80
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+f 69 82 83
+f 69 83 84
+f 69 84 71
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+f 71 84 75
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+f 89 94 95
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_54.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8453a8ddddb55306f4e3bbf552169087a2eee749
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_54.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.07449747 -0.27178299 0.01277651
+v -0.08325223 -0.27147393 0.03925336
+v -0.07449747 -0.27178295 0.00395089
+v -0.06301418 -0.27176394 0.00395089
+v -0.06301418 -0.27175922 0.01277651
+v -0.06301418 -0.27163110 0.09934700
+v -0.06740963 -0.27163110 0.09934700
+v -0.07449747 -0.27162634 0.09934700
+v -0.09081440 -0.26959525 0.03925337
+v -0.08325223 -0.27144538 0.03042774
+v -0.07449747 -0.27177342 0.00038577
+v -0.07616439 -0.27155978 0.09934700
+v -0.08325223 -0.27126012 0.09934700
+v -0.06301418 -0.27174490 0.00038577
+v -0.06301418 -0.24886334 0.09934709
+v -0.10915966 -0.25379513 0.00038584
+v -0.09039880 -0.26954766 0.03042775
+v -0.08457584 -0.27090817 0.09934700
+v -0.09016389 -0.26940048 0.09934701
+v -0.10915966 -0.25641613 0.09934706
+v -0.10915966 -0.25634950 0.08337182
+v -0.08325223 -0.27059391 0.00038578
+v -0.07804364 -0.27130732 0.00038577
+v -0.06301418 -0.24281789 0.00038588
+v -0.10915966 -0.22319899 0.07454632
+v -0.08392985 -0.23839027 0.09934712
+v -0.10915966 -0.22334615 0.00038595
+v -0.08833433 -0.26865339 0.00038578
+v -0.08531670 -0.26980914 0.00038578
+v -0.10915966 -0.23166505 0.09934715
+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 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 12
+f 2 12 13
+f 2 13 9
+f 3 11 4
+f 4 11 14
+f 4 14 24
+f 4 24 15
+f 4 15 6
+f 4 6 5
+f 6 15 26
+f 6 26 30
+f 6 30 20
+f 6 20 19
+f 6 19 18
+f 6 18 13
+f 6 13 12
+f 6 12 8
+f 6 8 7
+f 9 16 17
+f 9 17 10
+f 9 13 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 16
+f 10 17 22
+f 10 22 23
+f 10 23 11
+f 11 23 22
+f 11 22 29
+f 11 29 28
+f 11 28 16
+f 11 16 27
+f 11 27 24
+f 11 24 14
+f 15 25 26
+f 15 24 25
+f 16 28 17
+f 16 21 20
+f 16 20 30
+f 16 30 25
+f 16 25 27
+f 17 28 29
+f 17 29 22
+f 24 27 25
+f 25 30 26
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_55.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3ce903e5e0871cfccc0d3627872b1359ecf52ee
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_55.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.10062486 0.25400558 -0.13725556
+v 0.10062486 0.25382619 -0.12842972
+v 0.10938008 0.25299842 -0.12842972
+v 0.10938008 0.25298810 -0.13725556
+v 0.10938008 0.25147055 -0.14416305
+v 0.10062486 0.25204999 -0.14495324
+v 0.06361996 0.25126359 -0.14360870
+v 0.06361996 0.25156366 -0.14216935
+v 0.06361996 0.25255697 -0.13725556
+v 0.06361996 0.25258800 -0.13525698
+v 0.06361996 0.25265696 -0.12842972
+v 0.06361996 0.25265695 -0.12613210
+v 0.10062486 0.25373651 -0.12613210
+v 0.10938008 0.25292597 -0.12613210
+v 0.11479706 0.25092207 -0.12613211
+v 0.11482493 0.25095312 -0.12842973
+v 0.11470789 0.25087038 -0.13725557
+v 0.11428434 0.25052203 -0.14260698
+v 0.10938008 0.24630732 -0.14857600
+v 0.10062486 0.24658669 -0.14936618
+v 0.06361996 0.24604173 -0.14801922
+v 0.06361996 0.24723855 -0.14701992
+v 0.06361996 0.22893430 -0.12613219
+v 0.11820775 0.24562776 -0.12613213
+v 0.11822448 0.24562777 -0.12842975
+v 0.11802384 0.24562780 -0.13725559
+v 0.11541568 0.24481041 -0.14576047
+v 0.11382736 0.24129238 -0.15052595
+v 0.10938008 0.24184423 -0.15059889
+v 0.10062486 0.24212015 -0.15065482
+v 0.06361996 0.24157520 -0.15063536
+v 0.06361996 0.24258577 -0.15004454
+v 0.06361996 0.21877340 -0.13574824
+v 0.10676076 0.21879750 -0.12613223
+v 0.12055400 0.23669468 -0.12613216
+v 0.12052057 0.23669469 -0.12842978
+v 0.12038123 0.23669472 -0.13725562
+v 0.11718232 0.23669476 -0.14607658
+v 0.11391653 0.23669477 -0.15057216
+v 0.10938008 0.23669477 -0.15077154
+v 0.10062486 0.23669477 -0.15087122
+v 0.06560396 0.24158900 -0.15064022
+v 0.06361996 0.23779158 -0.15078612
+v 0.06361996 0.21877345 -0.15088831
+v 0.11055599 0.21877336 -0.12613223
+v 0.11987409 0.22116357 -0.12613222
+v 0.11998555 0.21877340 -0.13725569
+v 0.11722690 0.21877344 -0.14607665
+v 0.11723805 0.22776860 -0.14607661
+v 0.11398898 0.22776861 -0.15060380
+v 0.10938008 0.22776861 -0.15084208
+v 0.10062486 0.22776861 -0.15094176
+v 0.06560396 0.23669477 -0.15083475
+v 0.06361996 0.23669477 -0.15082260
+v 0.06361996 0.22086013 -0.15088830
+v 0.06560396 0.21877345 -0.15091262
+v 0.11974591 0.21877336 -0.12613223
+v 0.11720461 0.21877344 -0.14611069
+v 0.11400569 0.21877345 -0.15061113
+v 0.11400569 0.21883554 -0.15061113
+v 0.10938008 0.21883554 -0.15085914
+v 0.10062486 0.21877345 -0.15096855
+v 0.06560396 0.22776861 -0.15089071
+v 0.06361996 0.22978976 -0.15086639
+v 0.06560396 0.21883554 -0.15091262
+v 0.10938008 0.21877345 -0.15085914
+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 11
+f 1 11 12
+f 1 12 2
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+f 2 14 3
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+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 17
+f 4 17 18
+f 4 18 5
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+f 7 23 12
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+f 28 39 40
+f 28 40 29
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+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 33 44 56
+f 33 56 62
+f 33 62 66
+f 33 66 59
+f 33 59 58
+f 33 58 48
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+f 33 47 57
+f 33 57 45
+f 33 45 34
+f 35 46 47
+f 35 47 36
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+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 50 39
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+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 42
+f 42 53 43
+f 43 53 54
+f 44 55 65
+f 44 65 56
+f 46 57 47
+f 48 58 49
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 52
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+f 52 63 53
+f 53 63 64
+f 53 64 54
+f 55 64 63
+f 55 63 65
+f 56 65 62
+f 59 66 61
+f 59 61 60
+f 61 66 62
+f 62 65 63
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_56.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417455308a3c1c5c1661c102c98612bbd8375c97
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_56.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.02397313 0.02717741
+v -0.02687848 0.02434525 0.02853879
+v -0.03464757 -0.00032435 0.02717732
+v -0.02687848 0.08962008 0.02717765
+v -0.02687848 0.02649042 0.02942074
+v -0.03480342 0.01621323 0.03510640
+v -0.03531967 -0.00175812 0.02717731
+v -0.02709667 0.09048472 0.02717765
+v -0.02687848 0.06455644 0.03619399
+v -0.02687848 0.04618011 0.03518250
+v -0.04292513 0.00663652 0.03493185
+v -0.03708856 0.01025925 0.03414000
+v -0.02687848 0.04913521 0.03576140
+v -0.02687848 0.05051426 0.03595563
+v -0.02687848 0.05807711 0.03676253
+v -0.03871914 -0.00741658 0.02717729
+v -0.03071822 0.09326469 0.03018189
+v -0.03398716 0.09079115 0.03539470
+v -0.03250464 0.09918585 0.02717768
+v -0.03328389 0.09972214 0.02806151
+v -0.02687848 0.06040836 0.03664526
+v -0.04395763 0.00663652 0.03493185
+v -0.04471350 -0.01191490 0.02717728
+v -0.04160041 -0.01188206 0.02717728
+v -0.03979255 0.00398789 0.03316514
+v -0.03588852 0.09079115 0.03539470
+v -0.02935259 0.05806617 0.03662743
+v -0.03310271 0.09989726 0.02717769
+v -0.03660348 0.09972214 0.02806151
+v -0.04395763 0.01025925 0.03493187
+v -0.04555898 0.00398790 0.03127460
+v -0.04541287 -0.00443961 0.02885862
+v -0.04592133 -0.00443960 0.02717730
+v -0.03759313 0.09377910 0.03077298
+v -0.03865680 0.08485908 0.03042674
+v -0.04555119 0.02235329 0.02925559
+v -0.04558626 0.01331288 0.03116581
+v -0.03672037 0.09989726 0.02717769
+v -0.03869771 0.09377911 0.02717766
+v -0.04674539 0.00420681 0.02717734
+v -0.04678045 0.00798276 0.02717735
+v -0.03930357 0.08815348 0.02717764
+v -0.04615705 0.02235330 0.02717740
+v -0.04677655 0.01335666 0.02717737
+f 1 2 3
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+f 1 16 24
+f 1 24 23
+f 1 23 33
+f 1 33 40
+f 1 40 41
+f 1 41 44
+f 1 44 43
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+f 1 19 8
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+f 1 13 10
+f 1 10 5
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+f 8 17 18
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+f 8 20 17
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+f 11 25 12
+f 11 15 22
+f 12 25 24
+f 12 24 16
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+f 15 26 27
+f 15 27 22
+f 17 20 18
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+f 18 29 26
+f 19 28 20
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+f 22 30 31
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+f 22 32 23
+f 22 27 30
+f 23 32 33
+f 26 29 34
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+f 30 37 31
+f 31 40 33
+f 31 33 32
+f 31 37 41
+f 31 41 40
+f 34 39 42
+f 34 42 35
+f 35 42 36
+f 36 43 44
+f 36 44 37
+f 36 42 43
+f 37 44 41
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_57.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c321964326449da144232cf9aba82bd826b261ab
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_57.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 0.26348850 -0.04294076
+v -0.00169744 0.26068415 -0.04289693
+v -0.00169744 0.27035393 -0.03900892
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+v 0.02787953 0.24562831 -0.05774730
+v 0.02690770 0.23669819 -0.05774733
+v 0.02690770 0.23659764 -0.05774733
+v 0.02691409 0.23610212 -0.05774733
+v -0.00169744 0.25455838 -0.04278001
+v -0.00169744 0.27277046 -0.03134989
+v 0.00431258 0.27277765 -0.03134989
+v 0.01307187 0.27036112 -0.03902354
+v 0.04808982 0.26615640 -0.04370081
+v 0.03933054 0.25331963 -0.05774727
+v -0.00169744 0.23786864 -0.02857290
+v -0.00169744 0.23846114 -0.03135001
+v -0.00169744 0.23994412 -0.03462410
+v -0.00169744 0.24061198 -0.03608574
+v -0.00169744 0.24562824 -0.03918441
+v 0.06361996 0.23610212 -0.05774733
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+v -0.00169744 0.23652207 -0.01369335
+v -0.00169744 0.23663699 -0.01974456
+v -0.00169744 0.23671241 -0.02252169
+v -0.00169744 0.27277036 -0.00486489
+v 0.01307187 0.27277765 -0.03134989
+v 0.00431258 0.27277755 -0.00486489
+v 0.01307187 0.27278473 -0.00486489
+v 0.06361996 0.26975787 -0.03924278
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+v 0.06361996 0.25301441 -0.05774727
+v 0.06361996 0.23610200 -0.02439259
+v 0.01387746 0.23610196 -0.01369335
+v -0.00169744 0.23631013 0.01277703
+v -0.00169744 0.27117571 0.09157442
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+v 0.06361996 0.27148139 -0.03134989
+v 0.06361996 0.27144529 0.02159088
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+v 0.02273265 0.23610183 0.02175153
+v -0.00169744 0.23694206 0.02159075
+v -0.00169744 0.24771396 0.09157433
+v 0.05640794 0.24946982 0.09157434
+v 0.03507237 0.23610185 0.01745429
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+v 0.04750160 0.24883426 0.09157433
+v 0.02995746 0.24822743 0.09157433
+v 0.02182476 0.24797967 0.09157433
+v 0.02119818 0.24796891 0.09157433
+v 0.00431258 0.24776064 0.09157433
+v 0.00368601 0.24775346 0.09157433
+v 0.04808982 0.24886658 0.09157433
+v 0.03061601 0.23610184 0.01988062
+f 1 2 9
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+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 24
+f 1 24 23
+f 1 23 22
+f 1 22 34
+f 1 34 44
+f 1 44 45
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+f 1 25 10
+f 1 10 3
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+f 35 51 50
+f 35 50 49
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+f 35 41 40
+f 35 40 36
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+f 39 46 47
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+f 43 45 44
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+f 46 56 47
+f 48 56 55
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_58.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8e83b9bc267e9eca07f4c2b7d3065aec287644
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_58.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02627738 0.20700464 -0.05774744
+v 0.04508392 0.20700464 -0.05774744
+v 0.02710348 0.22681796 -0.05774737
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_59.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16d8e908ec5db8f196764ad7fcc421f0eeabecf
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_59.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.23276685 0.01450826
+v -0.02687848 0.23276711 -0.05786630
+v -0.02199065 0.23276685 0.01354996
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+v -0.02687848 0.27215743 -0.00487058
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_6.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a4b14d5f6361043b4f071f38a454748201fb6c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_6.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.12512286 0.00088826 0.00037708
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_60.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e996de11688adc0e795de17216a9a5729eb4918b
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_60.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_61.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b7f3fc429fe18babf1be49596fa736e994dfd2
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_61.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_62.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d41ae026c64b474e3d0add078029dba2f2129af
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_62.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+f 44 48 47
+f 44 47 45
+f 45 47 46
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+f 48 60 61
+f 48 61 49
+f 49 61 62
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+f 54 65 66
+f 54 66 55
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_63.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d1792c00da44703bdb2c0145420a7363841abd4
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_63.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.06362554 0.25265732 -0.12612361
+v 0.10062215 0.25373898 -0.12612361
+v 0.06362554 0.22893614 -0.12612370
+v 0.06362554 0.25285222 -0.06428333
+v 0.10062215 0.25348225 -0.11959754
+v 0.10937878 0.25272576 -0.11959754
+v 0.10937878 0.25292774 -0.12612361
+v 0.06373158 0.25285222 -0.06428333
+v 0.07436343 0.25275637 -0.06428333
+v 0.10676128 0.21879731 -0.12612374
+v 0.10402657 0.21876989 -0.11793891
+v 0.10272620 0.21876987 -0.11077718
+v 0.10272062 0.21876987 -0.11071059
+v 0.10240250 0.21876983 -0.10195064
+v 0.10240250 0.21876970 -0.06658998
+v 0.10241366 0.21878682 -0.06428346
+v 0.06362554 0.23087675 -0.06428341
+v 0.11424543 0.25046315 -0.11077706
+v 0.11472540 0.25083971 -0.11959755
+v 0.10519301 0.25014124 -0.06984079
+v 0.11479795 0.25092188 -0.12612362
+v 0.08077044 0.25211969 -0.06428333
+v 0.11055638 0.21876992 -0.12612374
+v 0.10571204 0.21876991 -0.12235219
+v 0.10652687 0.21876970 -0.06428346
+v 0.10883184 0.24851531 -0.06428335
+v 0.11404452 0.24504099 -0.06428336
+v 0.11575230 0.24389773 -0.06428336
+v 0.11816331 0.24562652 -0.11959757
+v 0.10076167 0.25002141 -0.06428334
+v 0.10637619 0.24900823 -0.06428335
+v 0.11820796 0.24562654 -0.12612364
+v 0.11974274 0.21876992 -0.12612374
+v 0.11802378 0.21876970 -0.06428346
+v 0.11830284 0.23669580 -0.06428339
+v 0.12063571 0.23669600 -0.11959760
+v 0.12055199 0.23669602 -0.12612367
+v 0.11987111 0.22116258 -0.12612373
+v 0.11964787 0.21876990 -0.11959767
+v 0.11814657 0.22123424 -0.06428345
+v 0.11841446 0.23016478 -0.06428341
+v 0.12026736 0.23009310 -0.12612369
+v 0.11844794 0.22776869 -0.06428342
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+f 1 33 23
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+f 1 10 3
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+f 33 38 36
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+f 34 39 36
+f 34 36 40
+f 35 41 36
+f 36 38 42
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+f 36 41 43
+f 36 43 40
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_64.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b098ba7ef3b12b900ddbf51c6c121b87131ae0e5
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_64.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.10243992 0.25406598 -0.13554613
+v -0.10243220 0.25415645 -0.13554613
+v -0.10243992 0.21933003 -0.13554625
+v -0.10243992 0.25395114 -0.12842708
+v -0.10076096 0.25441045 -0.13554613
+v -0.06301352 0.21905516 -0.13554626
+v -0.10243992 0.21892970 -0.08430583
+v -0.10243992 0.25364838 -0.11959672
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+v -0.10076096 0.25420514 -0.12842708
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+v -0.06301352 0.25219747 -0.13117279
+v -0.06301352 0.25218010 -0.13554613
+v -0.06301352 0.25212065 -0.05784505
+v -0.06301352 0.23023105 -0.05784513
+v -0.10243992 0.21895395 -0.05784518
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+v -0.10243992 0.21886703 -0.07548308
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+v -0.07449600 0.25187360 -0.05784505
+v -0.10076868 0.25112900 -0.05784506
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+f 14 16 15
+f 19 20 23
+f 19 23 21
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_65.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4fc3cb29a327cd74a57c7c6ac2342e3bf2d4983
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_65.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.27277449 -0.00487394
+v -0.01320342 -0.27277449 -0.00487394
+v -0.00169744 -0.27275916 -0.03133872
+v -0.00169744 -0.27154106 0.10591818
+v -0.02687848 -0.27160580 0.10591818
+v -0.02687848 -0.27195568 -0.02251713
+v -0.01320342 -0.27275916 -0.03133872
+v -0.02687848 -0.27162102 0.10101730
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+v -0.00169744 -0.24744676 0.10591827
+v -0.02687848 -0.24765240 0.10591827
+v -0.02687848 -0.27187949 -0.02748228
+v -0.02687848 -0.27181092 -0.03133872
+v -0.02687848 -0.27071416 -0.03527548
+v -0.02687848 -0.26976591 -0.03823208
+v -0.01320342 -0.27031429 -0.03871414
+v -0.00444823 -0.27032573 -0.03873020
+v -0.02687848 -0.24521076 -0.05646971
+v -0.00169744 -0.26560358 -0.04112440
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+v -0.00929908 -0.24744296 0.10591827
+v -0.00169744 -0.23550780 0.01278544
+v -0.01964410 -0.23387406 0.00396386
+v -0.02687848 -0.23387384 -0.05781942
+v -0.02195614 -0.24751530 0.10591827
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+v -0.02081491 -0.23387390 -0.04017624
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+v -0.00169744 -0.24125034 -0.03554855
+v -0.00169744 -0.24571351 -0.03860157
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+f 30 45 33
+f 36 40 39
+f 36 39 37
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_66.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c376159aab96e49a3be0da9de8287dcef00c40
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_66.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03933637 -0.00253806 0.06369754
+v 0.03933637 0.00449413 0.06388865
+v 0.03361970 0.00449413 0.06347920
+v 0.03374882 -0.00253806 0.06326078
+v 0.04392380 -0.00253806 0.06174581
+v 0.04004069 0.01339791 0.06286505
+v 0.03371361 0.01342140 0.06313801
+v 0.04389563 0.00449413 0.06170489
+v 0.04378528 0.01040649 0.06147289
+v 0.02890784 0.02342158 0.04696461
+v 0.03227446 -0.00253804 0.05690060
+v 0.05214313 -0.00253794 0.03122781
+v 0.04342608 0.01635801 0.06040833
+v 0.03759202 0.01908317 0.06231913
+v 0.02890784 0.02891107 0.04645963
+v 0.03419489 0.01908317 0.06231913
+v 0.02890784 0.07745511 0.03839355
+v 0.02890784 0.07422876 0.03899408
+v 0.05184967 0.01342152 0.03042261
+v 0.02890784 0.02314749 0.04665069
+v 0.03205612 -0.00253801 0.04807003
+v 0.02890784 0.02085306 0.03943064
+v 0.05224408 -0.00253794 0.03027242
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+v 0.03199273 0.07745511 0.03862558
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+v 0.05254224 0.00256002 0.02688762
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+v 0.05142943 0.02235666 0.02159208
+v 0.02890784 0.02053202 0.03042264
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+v 0.03210542 -0.00253755 -0.07554422
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+f 89 92 91
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_67.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6cd88546e3def8f6e7ac98e4e0d9a9a6866a34
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_67.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.12923368 -0.06106691
+v -0.02687848 0.12397308 -0.06105581
+v -0.02687848 0.13814688 -0.06102982
+v -0.00169744 0.20096527 -0.04927666
+v -0.00169744 0.19204141 -0.04916553
+v -0.00169744 0.18309626 -0.04877282
+v -0.00169744 0.18029557 -0.04853199
+v -0.00169744 0.17418305 -0.04796511
+v -0.00169744 0.12397301 -0.04138484
+v -0.02687848 0.12397296 -0.02804979
+v -0.02687848 0.13846636 -0.06102611
+v -0.00169744 0.20989978 -0.04912471
+v -0.02687848 0.14696425 -0.06090751
+v -0.02687848 0.14740086 -0.06090011
+v -0.00169744 0.12397296 -0.02800903
+v -0.01320342 0.12397296 -0.02800903
+v -0.02687848 0.13143789 -0.02445571
+v -0.02687848 0.23276319 -0.05787264
+v -0.00169744 0.21882364 -0.04803906
+v -0.02687848 0.15573903 -0.06070000
+v -0.00169744 0.21029370 -0.02322158
+v -0.02687848 0.13801898 -0.02417408
+v -0.02687848 0.23276307 -0.02322150
+v -0.02190438 0.23276314 -0.04406332
+v -0.00169744 0.22845026 -0.03135445
+v -0.00169744 0.22812016 -0.03412595
+v -0.00169744 0.22738540 -0.04017656
+v -0.00169744 0.22471252 -0.04585295
+v -0.00169744 0.22822660 -0.02322151
+v -0.02399212 0.20134854 -0.02322161
+v -0.02687848 0.20062441 -0.02322161
+v -0.01965643 0.23276307 -0.02322150
+v -0.02048955 0.23276313 -0.03987643
+v -0.00169744 0.22829050 -0.02530014
+v -0.01990538 0.23276311 -0.03551540
+v -0.01968108 0.23276310 -0.03135444
+f 1 2 10
+f 1 10 17
+f 1 17 22
+f 1 22 31
+f 1 31 23
+f 1 23 18
+f 1 18 20
+f 1 20 14
+f 1 14 13
+f 1 13 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 15
+f 2 15 16
+f 2 16 10
+f 3 11 4
+f 4 12 19
+f 4 19 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 34
+f 4 34 29
+f 4 29 21
+f 4 21 15
+f 4 15 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 11 13
+f 4 13 14
+f 4 14 12
+f 10 16 17
+f 12 18 19
+f 12 14 20
+f 12 20 18
+f 15 17 16
+f 15 21 17
+f 17 21 22
+f 18 23 32
+f 18 32 36
+f 18 36 35
+f 18 35 33
+f 18 33 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 21 29 32
+f 21 32 23
+f 21 23 31
+f 21 31 30
+f 21 30 22
+f 22 30 31
+f 24 33 25
+f 25 33 35
+f 25 35 36
+f 25 36 32
+f 25 32 34
+f 29 34 32
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_68.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be36853670aced30f23039c73949568e10eb6d23
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_68.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.12396453 -0.06105771
+v -0.00169744 0.12396446 -0.04137969
+v -0.02687848 0.12059121 -0.06104507
+v -0.02687848 0.12396441 -0.02804779
+v -0.02687848 0.10151596 -0.06062079
+v -0.02687848 0.10273124 -0.06066511
+v -0.02687848 0.11166232 -0.06089309
+v -0.00169744 0.12396441 -0.02800979
+v -0.00169744 0.12059114 -0.04102504
+v -0.01320342 0.12396441 -0.02800979
+v -0.02687848 0.11167310 -0.00626712
+v -0.00898604 0.11622653 -0.00033899
+v -0.00444823 0.11674516 0.00142171
+v -0.00169744 0.11686603 0.00168138
+v -0.00169744 0.11083814 -0.03769368
+v -0.00169744 0.10731096 -0.03473598
+v -0.02378507 0.10151595 -0.05657372
+v -0.02687848 0.10151573 0.00364468
+v -0.00169744 0.11374322 0.00168137
+v -0.00169744 0.10729997 -0.03465364
+v -0.01966136 0.10151592 -0.04844158
+v -0.02019623 0.10151592 -0.04983493
+v -0.02573725 0.10151573 0.00180165
+v -0.00169744 0.10760536 -0.01239790
+v -0.00169744 0.10962713 -0.00496244
+v -0.00169744 0.10697691 -0.03161359
+v -0.01809864 0.10151588 -0.03914408
+v -0.02432241 0.10151574 -0.00048472
+v -0.02065963 0.10151579 -0.01367729
+v -0.00169744 0.10720541 -0.01717333
+v -0.00169744 0.10694175 -0.02863054
+v -0.00169744 0.10695709 -0.02246176
+v -0.01817258 0.10151586 -0.03134760
+v -0.00169744 0.10701862 -0.01990305
+v -0.00169744 0.10712411 -0.01828168
+v -0.01832047 0.10151585 -0.02988458
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+f 1 4 10
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+f 5 28 23
+f 5 23 18
+f 8 10 14
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+f 26 31 27
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+f 29 34 35
+f 29 35 30
+f 29 36 34
+f 32 34 33
+f 33 34 36
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_69.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fba217914d1bacdbc39b7bb98fb5f0722d56d3b
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_69.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02688046 0.04842595 0.02717750
+v -0.02688046 0.08962347 0.02717765
+v -0.03229472 0.04842595 0.02717750
+v -0.02688046 0.04842627 -0.06090291
+v -0.02688046 0.09031986 0.02699397
+v -0.02709671 0.09048535 0.02717765
+v -0.03636584 0.06122304 0.02717754
+v -0.03413188 0.04842597 0.02159653
+v -0.03377675 0.04842646 -0.11077841
+v -0.03377279 0.04915043 -0.11077841
+v -0.02688046 0.04915024 -0.06091704
+v -0.03250503 0.09918682 0.02717768
+v -0.02688046 0.09418108 0.02159670
+v -0.02758080 0.09575313 0.02159670
+v -0.03754234 0.06700793 0.02717757
+v -0.03919896 0.06700795 0.02159660
+v -0.04457950 0.04842626 -0.05722936
+v -0.03467153 0.04842648 -0.11716473
+v -0.03466954 0.04915045 -0.11716473
+v -0.03375493 0.05807944 -0.11077838
+v -0.02688046 0.11885852 -0.06101568
+v -0.03374303 0.06700844 -0.11077834
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+v -0.03310419 0.09989699 0.02717769
+v -0.03188404 0.11885832 -0.00479625
+v -0.03383627 0.11885830 -0.00081186
+v -0.02688046 0.11166685 -0.00626570
+v -0.03789747 0.06949702 0.02717758
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+v -0.04463703 0.04842626 -0.05782278
+v -0.04714279 0.04842648 -0.11716473
+v -0.03466954 0.08515606 -0.11716460
+v -0.02688046 0.11885838 -0.02238690
+v -0.03374501 0.08486644 -0.11077828
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+v -0.03380056 0.11885871 -0.11077815
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+v -0.03672097 0.09989699 0.02717769
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+v -0.03104681 0.11885833 -0.00707102
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+v -0.03470922 0.11885873 -0.11716447
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+v -0.03564566 0.11885830 -0.00007715
+v -0.03827641 0.11885832 -0.00473973
+v -0.04076431 0.11885835 -0.01371167
+v -0.03930212 0.08815484 0.02717764
+v -0.04478186 0.11885854 -0.06663904
+v -0.04504771 0.07594417 -0.06663920
+v -0.04411326 0.11885851 -0.05734213
+f 1 2 6
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+f 1 24 39
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+f 1 43 42
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+f 1 28 15
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+f 1 5 2
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+f 44 47 45
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+f 50 55 51
+f 50 54 58
+f 50 58 56
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_7.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdf047db428285e2f72887563930c257a69334f
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.06361996 0.25285323 -0.06428332
+v 0.06372836 0.25285323 -0.06428332
+v 0.06361996 0.23087819 -0.06428340
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+v 0.07436336 0.25275508 -0.06428332
+v 0.07436336 0.26977090 -0.03921413
+v 0.10241425 0.21879037 -0.06428345
+v 0.10245038 0.21876967 -0.05782141
+v 0.10245038 0.21876967 -0.05775756
+v 0.10284784 0.21876964 -0.04899677
+v 0.06361996 0.23102797 -0.05782136
+v 0.06361996 0.27148072 -0.03135368
+v 0.07436336 0.27153757 -0.03135368
+v 0.08077087 0.25211969 -0.06428332
+v 0.08311949 0.26937315 -0.03837126
+v 0.10075818 0.25001723 -0.06428333
+v 0.10652733 0.21876970 -0.06428345
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+v 0.06361996 0.23134821 -0.04899672
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+v 0.06361996 0.27147557 -0.02935505
+v 0.07436336 0.27144962 0.00094373
+v 0.07733828 0.27123783 0.00094373
+v 0.08311949 0.27081424 0.00094372
+v 0.08311949 0.27085047 -0.02252905
+v 0.08311949 0.27081436 -0.03135369
+v 0.08822019 0.26862927 -0.03694093
+v 0.10883380 0.24851400 -0.06428334
+v 0.10637678 0.24900474 -0.06428334
+v 0.11802350 0.21876970 -0.06428345
+v 0.11077893 0.21876946 0.00094353
+v 0.06361996 0.23184925 -0.04070208
+v 0.06361996 0.27138762 0.00094373
+v 0.08502247 0.27022019 0.00094372
+v 0.08873809 0.26907343 -0.01370441
+v 0.08872002 0.26905279 -0.02252905
+v 0.08864174 0.26899601 -0.03135369
+v 0.12276891 0.25037360 -0.04486529
+v 0.11404290 0.24504779 -0.06428335
+v 0.11814395 0.22123376 -0.06428344
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+v 0.12502720 0.21876946 0.00094353
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+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_70.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96cdf75b27aebb49a10fca2104cfbef7cf50a2e5
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_70.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.03838693 0.17777771 -0.01523035
+v 0.03933400 0.17199356 0.01277428
+v 0.04381161 0.16990186 0.01761981
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+v 0.03356177 0.17709030 -0.01523035
+v 0.03422791 0.17072673 0.01923323
+v 0.03933400 0.17060889 0.01904809
+v 0.04389270 0.17013756 0.01277427
+v 0.04406648 0.17200347 -0.01523037
+v 0.03528214 0.16087708 0.03493358
+v 0.04389560 0.16149579 0.02672367
+v 0.04402304 0.16477573 0.02097358
+v 0.04427211 0.16524713 0.01277426
+v 0.03233666 0.17589225 -0.01523035
+v 0.03376451 0.17156147 0.01277428
+v 0.03173713 0.16524713 0.01277426
+v 0.03316498 0.16568900 0.02194692
+v 0.03416998 0.16252690 0.03042131
+v 0.03486508 0.16087708 0.03493358
+v 0.04437638 0.16524717 0.00395074
+v 0.04459360 0.16524724 -0.01523039
+v 0.03707782 0.15631073 0.03553660
+v 0.04145695 0.15631074 0.03241557
+v 0.04331056 0.14738424 0.03385968
+v 0.04402593 0.15631076 0.02800380
+v 0.04441113 0.15631078 0.02159775
+v 0.04451829 0.15631081 0.01277422
+v 0.03184140 0.17450762 -0.01523036
+v 0.02931586 0.16707377 -0.01523039
+v 0.01542254 0.11705984 -0.00620073
+v 0.03275951 0.15631075 0.03042128
+v 0.01800600 0.07745514 0.03042099
+v 0.01845782 0.07745513 0.03154774
+v 0.03431769 0.15631073 0.03553660
+v 0.04474710 0.15631092 -0.01523043
+v 0.03893142 0.14738423 0.03609730
+v 0.04359149 0.14213047 0.03453147
+v 0.04380292 0.13617948 0.03497580
+v 0.04409544 0.14738425 0.02944791
+v 0.04430976 0.12952144 0.03042119
+v 0.04452409 0.14738428 0.02159772
+v 0.01542254 0.11889624 -0.01523056
+v 0.01542254 0.11742319 -0.00741212
+v 0.01542254 0.11128561 -0.00492060
+v 0.02130483 0.07745531 -0.01519898
+v 0.01542254 0.10625771 -0.00753912
+v 0.01542254 0.10500076 -0.01369654
+v 0.01542254 0.10484364 -0.01523061
+v 0.02228376 0.07745512 0.03658900
+v 0.03380795 0.14738423 0.03609730
+v 0.04500776 0.09380581 -0.01369659
+v 0.04499328 0.09380582 -0.01523066
+v 0.03933400 0.12952141 0.03720812
+v 0.04409834 0.13887020 0.03112478
+v 0.03933400 0.12059492 0.03750960
+v 0.04388981 0.12952142 0.03515564
+v 0.04394484 0.12059493 0.03527198
+v 0.04437059 0.12059495 0.03042115
+v 0.04456174 0.13844797 0.02159769
+v 0.02130773 0.07745531 -0.01523072
+v 0.02328587 0.07745511 0.03701219
+v 0.03330690 0.12952141 0.03689072
+v 0.04491508 0.09380578 -0.00487306
+v 0.04482240 0.08486947 -0.00487309
+v 0.04489770 0.08486950 -0.01369662
+v 0.04487743 0.08486951 -0.01523069
+v 0.03057574 0.07745511 0.03881075
+v 0.03198911 0.07745511 0.03863618
+v 0.03933400 0.10273212 0.03752541
+v 0.04395063 0.11166844 0.03526137
+v 0.04457622 0.12059498 0.02159762
+v 0.04457043 0.12952147 0.02159766
+v 0.04436190 0.11166846 0.03042112
+v 0.04460518 0.07745531 -0.01523072
+v 0.03057574 0.08486931 0.03848810
+v 0.04455594 0.11166849 0.02159759
+v 0.04449223 0.10273218 0.02159756
+v 0.04439376 0.09380568 0.02159752
+v 0.04426632 0.08486937 0.02159749
+v 0.04423736 0.07745520 0.01427097
+v 0.04453857 0.07745527 -0.00487312
+v 0.04461097 0.07745530 -0.01369665
+v 0.04483109 0.08332775 -0.01523069
+v 0.04483978 0.08358306 -0.01523069
+v 0.03848250 0.07745511 0.03732958
+v 0.03889088 0.08486931 0.03747244
+v 0.04013916 0.09374670 0.03705986
+v 0.04389270 0.10273213 0.03515025
+v 0.04426053 0.10273215 0.03042109
+v 0.04394194 0.08486935 0.02824688
+v 0.04383478 0.07802472 0.02691910
+v 0.04386953 0.07745515 0.02590343
+v 0.04405489 0.07745517 0.02205239
+v 0.04301514 0.07745514 0.03064317
+v 0.04327001 0.08486933 0.03265864
+v 0.04359439 0.09073194 0.03396526
+v 0.04380002 0.09668293 0.03498624
+v 0.04401145 0.09374673 0.03078076
+v 0.04382030 0.07745515 0.02678684
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 35
+f 1 35 52
+f 1 52 66
+f 1 66 84
+f 1 84 83
+f 1 83 74
+f 1 74 60
+f 1 60 48
+f 1 48 42
+f 1 42 29
+f 1 29 28
+f 1 28 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 8
+f 5 14 6
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+f 10 19 34
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+f 19 32 33
+f 19 33 34
+f 20 27 21
+f 21 27 35
+f 22 34 50
+f 22 50 36
+f 22 36 24
+f 22 24 23
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 35
+f 29 42 43
+f 29 43 30
+f 30 43 42
+f 30 42 48
+f 30 48 47
+f 30 47 46
+f 30 46 44
+f 30 44 32
+f 30 32 31
+f 32 45 60
+f 32 60 74
+f 32 74 82
+f 32 82 81
+f 32 81 80
+f 32 80 93
+f 32 93 92
+f 32 92 99
+f 32 99 94
+f 32 94 85
+f 32 85 68
+f 32 68 67
+f 32 67 61
+f 32 61 49
+f 32 49 33
+f 32 44 46
+f 32 46 47
+f 32 47 48
+f 32 48 45
+f 33 49 34
+f 34 49 50
+f 35 41 51
+f 35 51 52
+f 36 38 37
+f 36 50 53
+f 36 53 38
+f 38 54 39
+f 38 53 55
+f 38 55 56
+f 38 56 40
+f 38 40 54
+f 39 54 40
+f 40 56 57
+f 40 57 58
+f 40 58 41
+f 41 58 59
+f 41 59 51
+f 45 48 60
+f 49 61 50
+f 50 62 53
+f 50 61 62
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 51 59 63
+f 52 65 66
+f 53 62 67
+f 53 67 55
+f 55 57 56
+f 55 67 68
+f 55 68 69
+f 55 69 57
+f 57 69 70
+f 57 70 58
+f 58 71 72
+f 58 72 59
+f 58 70 73
+f 58 73 71
+f 59 72 63
+f 61 67 75
+f 61 75 62
+f 62 75 67
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+f 63 71 76
+f 63 76 77
+f 63 77 64
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+f 65 82 74
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+f 68 85 86
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+f 70 88 73
+f 71 73 76
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+f 90 98 97
+f 90 97 91
+f 91 99 92
+f 91 97 99
+f 94 99 96
+f 94 96 95
+f 96 99 97
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_71.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2308ffdef4aa5643f778046bb05a23fe90ff8e
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.20063723 -0.02321791
+v -0.02587774 0.20513134 -0.00824679
+v -0.02687848 0.20513134 -0.00824679
+v -0.02687848 0.23276307 -0.02321780
+v -0.02399212 0.20135428 -0.02321791
+v -0.00169744 0.21435541 0.01871627
+v -0.00169744 0.21509133 0.02199088
+v -0.02195614 0.21401891 0.01803531
+v -0.02666157 0.21416674 0.01746951
+v -0.02687848 0.21405036 0.01689871
+v -0.01965643 0.23276307 -0.02321780
+v -0.02687848 0.23276293 0.01450038
+v -0.00169744 0.21029542 -0.02321788
+v -0.00169744 0.21426108 0.01818552
+v -0.00169744 0.21967981 0.02793428
+v -0.00444823 0.21978989 0.02780911
+v -0.01320342 0.22130891 0.02685777
+v -0.01783736 0.22279962 0.02614677
+v -0.02687848 0.21618265 0.01771986
+v -0.02687848 0.21435542 0.01725421
+v -0.00169744 0.22823117 -0.02321781
+v -0.01965396 0.23276306 -0.02252182
+v -0.02687848 0.22589430 0.01818556
+v -0.01783736 0.22357957 0.02614677
+v -0.01320342 0.22445387 0.02685778
+v -0.00444823 0.22533762 0.02780913
+v -0.00169744 0.22538479 0.02793430
+v -0.00169744 0.22796053 0.02160039
+v -0.02199065 0.23276293 0.01353903
+v -0.02687848 0.21886216 0.01824061
+v -0.01970573 0.23276301 -0.00820163
+v -0.01971805 0.23276300 -0.00487193
+v -0.01975995 0.23276298 0.00080607
+v -0.01978460 0.23276297 0.00395051
+v -0.00169744 0.22814926 0.01277294
+f 1 2 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 30
+f 1 30 23
+f 1 23 12
+f 1 12 4
+f 1 4 11
+f 1 11 21
+f 1 21 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 12 29
+f 4 29 34
+f 4 34 33
+f 4 33 32
+f 4 32 31
+f 4 31 22
+f 4 22 11
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 21
+f 6 21 35
+f 6 35 28
+f 6 28 27
+f 6 27 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 18
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+f 9 19 20
+f 9 20 10
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+f 12 23 24
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+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 15 27 26
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+f 16 26 25
+f 16 25 17
+f 17 25 24
+f 17 24 18
+f 18 24 30
+f 18 30 19
+f 21 22 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 23 30 24
+f 28 35 34
+f 28 34 29
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_72.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1188b04624977e1b3f8793e2a01f447f78e374ba
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_72.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03129062 -0.22878365 0.01426243
+v -0.03181504 -0.22878365 0.01408208
+v -0.02687848 -0.22878365 0.01423667
+v -0.02687848 -0.22709339 0.01832020
+v -0.02687848 -0.22545381 0.02049722
+v -0.02888537 -0.22507221 0.01969855
+v -0.03580614 -0.22878364 0.01035925
+v -0.02687848 -0.22878339 -0.05706393
+v -0.02687848 -0.22300334 0.02076775
+v -0.02885007 -0.21878509 0.01962129
+v -0.03322945 -0.21878507 0.01497097
+v -0.03591707 -0.21878506 0.01055252
+v -0.05171759 -0.22878343 -0.04593408
+v -0.02694655 -0.22878339 -0.05768226
+v -0.02687848 -0.22832132 -0.05756632
+v -0.02687848 -0.21869866 0.02069047
+v -0.02714068 -0.21394082 0.01792090
+v -0.03535736 -0.21404513 0.00892942
+v -0.04227056 -0.19832862 -0.04240437
+v -0.04330174 -0.19832860 -0.04768589
+v -0.05225209 -0.22878342 -0.04872943
+v -0.02700706 -0.22878339 -0.05819753
+v -0.03265208 -0.22878323 -0.10194402
+v -0.02687848 -0.21878480 -0.05930532
+v -0.02687848 -0.21393785 0.01793378
+v -0.03071578 -0.19832868 -0.02748728
+v -0.03117212 -0.19832868 -0.02759033
+v -0.03800465 -0.19832866 -0.03141622
+v -0.03896271 -0.19832866 -0.03327119
+v -0.04164025 -0.19832863 -0.04018870
+v -0.04406567 -0.19832859 -0.05210434
+v -0.04422955 -0.19832858 -0.05374033
+v -0.04458252 -0.19832857 -0.05782385
+v -0.04498844 -0.19832854 -0.06664786
+v -0.05260002 -0.22878339 -0.05782396
+v -0.03383454 -0.22878319 -0.11083244
+v -0.02687848 -0.20985941 -0.05989785
+v -0.02687848 -0.19832868 -0.02831171
+v -0.04545739 -0.19832837 -0.11083233
+v -0.05263532 -0.22878319 -0.11083244
+v -0.03382949 -0.22779645 -0.11083244
+v -0.02687848 -0.20092808 -0.06023275
+v -0.02687848 -0.19832856 -0.06021986
+v -0.03397573 -0.19832837 -0.11083233
+v -0.03382949 -0.22771596 -0.11083244
+f 1 2 7
+f 1 7 13
+f 1 13 21
+f 1 21 35
+f 1 35 40
+f 1 40 36
+f 1 36 23
+f 1 23 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 15
+f 3 15 24
+f 3 24 37
+f 3 37 42
+f 3 42 43
+f 3 43 38
+f 3 38 25
+f 3 25 16
+f 3 16 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 19 20
+f 13 20 21
+f 13 18 19
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 19 30 29
+f 19 29 28
+f 19 28 27
+f 19 27 26
+f 19 26 38
+f 19 38 43
+f 19 43 44
+f 19 44 39
+f 19 39 34
+f 19 34 33
+f 19 33 32
+f 19 32 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 23 36 24
+f 24 36 37
+f 25 38 26
+f 34 39 35
+f 35 39 40
+f 36 40 39
+f 36 39 44
+f 36 44 45
+f 36 45 41
+f 36 41 37
+f 37 41 42
+f 41 45 42
+f 42 45 43
+f 43 45 44
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_73.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..119d1188ddd00f792961086f01c8d004d3824730
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_73.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.10363724 -0.19690004 0.11816493
+v 0.10363724 -0.19690014 0.14441626
+v 0.08829724 -0.19690006 0.12335250
+v 0.07439421 -0.14556849 0.12274016
+v 0.07439421 -0.13844555 0.12245569
+v 0.07439421 -0.13841329 0.12245569
+v 0.10363724 -0.13098710 0.11951794
+v 0.09186961 -0.19690015 0.14688085
+v 0.10363724 -0.17413126 0.14426248
+v 0.09186961 -0.17413127 0.14689835
+v 0.07439421 -0.19690008 0.12837749
+v 0.07439421 -0.13787779 0.12246731
+v 0.07439421 -0.13098711 0.12263280
+v 0.10363724 -0.13098719 0.14311599
+v 0.08311617 -0.19690015 0.14773723
+v 0.10363724 -0.17106015 0.14422185
+v 0.08311617 -0.17413127 0.14774021
+v 0.07439421 -0.19690008 0.12856037
+v 0.07439421 -0.13098719 0.14342370
+v 0.10062591 -0.13098719 0.14319145
+v 0.07830721 -0.19690015 0.14781852
+v 0.07439421 -0.17413127 0.14775473
+v 0.09914601 -0.13098719 0.14321468
+v 0.09186961 -0.13098719 0.14332208
+v 0.09038971 -0.13098719 0.14333370
+v 0.08311617 -0.13098719 0.14338014
+v 0.08163627 -0.13098719 0.14338885
+v 0.07439421 -0.19687434 0.14781271
+f 1 2 8
+f 1 8 15
+f 1 15 21
+f 1 21 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 16
+f 1 16 9
+f 1 9 2
+f 2 9 10
+f 2 10 8
+f 3 11 4
+f 4 11 18
+f 4 18 28
+f 4 28 22
+f 4 22 19
+f 4 19 13
+f 4 13 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 7 13 19
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+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 20
+f 7 20 14
+f 8 10 15
+f 9 16 10
+f 10 17 15
+f 10 16 14
+f 10 14 17
+f 14 20 17
+f 15 17 21
+f 17 22 21
+f 17 20 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 19
+f 17 19 22
+f 18 21 28
+f 21 22 28
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_74.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aead69f1448e1ff55c2034660c8a3213c5f98fa0
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_74.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.02746029 -0.06957431 -0.06195666
+v 0.02363717 -0.06957433 -0.05779252
+v 0.04503748 -0.06957431 -0.06195666
+v 0.02734312 -0.13840643 -0.06195691
+v 0.01926388 -0.12849110 -0.05235780
+v 0.01926388 -0.12055400 -0.05222136
+v 0.01926388 -0.11952290 -0.05219265
+v 0.02292145 -0.06957433 -0.05643558
+v 0.02736095 -0.14733866 -0.06195694
+v 0.01926388 -0.12948623 -0.05235781
+v 0.04497126 -0.06957432 -0.06040588
+v 0.04368754 -0.08119243 -0.00093768
+v 0.04373848 -0.08715125 0.00080694
+v 0.04377669 -0.09375751 0.00254437
+v 0.04405941 -0.10268971 -0.00487933
+v 0.04431666 -0.11162191 -0.01370303
+v 0.04525652 -0.11162175 -0.05782138
+v 0.04527690 -0.11162173 -0.06195681
+v 0.01926388 -0.11083046 -0.05135261
+v 0.02036675 -0.06957436 -0.04899756
+v 0.01926388 -0.13840647 -0.05226451
+v 0.02769207 -0.18305559 -0.06195707
+v 0.04484900 -0.06957433 -0.05782123
+v 0.04215677 -0.07589305 0.00394444
+v 0.04357038 -0.08442962 0.00382236
+v 0.04363151 -0.09375753 0.00695979
+v 0.04383272 -0.10268974 0.00310433
+v 0.04412309 -0.11162194 -0.00487936
+v 0.04437015 -0.13840661 -0.01370313
+v 0.04526926 -0.12055398 -0.05782141
+v 0.04528200 -0.12055396 -0.06195684
+v 0.01926388 -0.10237783 -0.04901205
+v 0.02029798 -0.06957436 -0.04808576
+v 0.01926388 -0.19204780 -0.05154676
+v 0.02780669 -0.19198781 -0.06195711
+v 0.04197593 -0.06957446 -0.02252655
+v 0.03839223 -0.07589308 0.01054245
+v 0.03884560 -0.06957455 0.00394446
+v 0.03728171 -0.06957457 0.00884092
+v 0.03690984 -0.06957457 0.00949426
+v 0.04344303 -0.10268976 0.00751258
+v 0.04362641 -0.12055422 0.00795765
+v 0.04386329 -0.11162197 0.00322636
+v 0.03917162 -0.08482531 0.01138961
+v 0.04385310 -0.12055420 0.00354223
+v 0.04409507 -0.13840664 -0.00487946
+v 0.04435232 -0.14733884 -0.01370316
+v 0.04520558 -0.19205977 -0.05782168
+v 0.04528200 -0.12472633 -0.06195686
+v 0.04524379 -0.19205975 -0.06195711
+v 0.01926388 -0.10165845 -0.04866023
+v 0.01973508 -0.06957439 -0.04017390
+v 0.02780414 -0.19205975 -0.06193557
+v 0.02003309 -0.19205979 -0.05176932
+v 0.01926388 -0.19205985 -0.03502660
+v 0.02807922 -0.19205975 -0.06195711
+v 0.03343567 -0.07589308 0.01054245
+v 0.03398328 -0.06957457 0.00949426
+v 0.03924803 -0.12055423 0.01038434
+v 0.03772235 -0.12948645 0.00926429
+v 0.04377159 -0.15227859 -0.00024152
+v 0.04381999 -0.14733889 -0.00012663
+v 0.04406450 -0.14733887 -0.00487949
+v 0.03326247 -0.08482531 0.01138961
+v 0.04475730 -0.19205980 -0.04899801
+v 0.01926388 -0.09755804 -0.04364172
+v 0.01929699 -0.06957442 -0.03135022
+v 0.01926388 -0.19205987 -0.02947681
+v 0.02138048 -0.06957446 -0.02063833
+v 0.03411828 -0.12055423 0.01038434
+v 0.03451562 -0.12948645 0.00926429
+v 0.03583244 -0.13423432 0.00848889
+v 0.03933209 -0.15387321 0.00086412
+v 0.03590376 -0.19205988 -0.02617421
+v 0.03971414 -0.19205986 -0.03135067
+v 0.04313738 -0.19205984 -0.03824304
+v 0.04406960 -0.19205982 -0.04261539
+v 0.04407469 -0.19205982 -0.04264411
+v 0.01926388 -0.10580693 -0.02397695
+v 0.01926388 -0.11162187 -0.02416364
+v 0.01926388 -0.09682669 -0.04017400
+v 0.02080485 -0.06957446 -0.02241168
+v 0.01926388 -0.10023175 -0.03165905
+v 0.01926388 -0.10036364 -0.03135033
+v 0.01926388 -0.10424828 -0.02483849
+v 0.03217233 -0.19205988 -0.02617421
+v 0.03432714 -0.15407703 0.00108669
+v 0.03484164 -0.13423432 0.00848889
+f 1 2 8
+f 1 8 20
+f 1 20 33
+f 1 33 52
+f 1 52 67
+f 1 67 82
+f 1 82 69
+f 1 69 58
+f 1 58 40
+f 1 40 39
+f 1 39 38
+f 1 38 36
+f 1 36 23
+f 1 23 11
+f 1 11 3
+f 1 3 18
+f 1 18 31
+f 1 31 49
+f 1 49 50
+f 1 50 56
+f 1 56 35
+f 1 35 22
+f 1 22 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 4 9
+f 2 9 10
+f 2 10 5
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 5 10 21
+f 5 21 34
+f 5 34 55
+f 5 55 68
+f 5 68 80
+f 5 80 79
+f 5 79 85
+f 5 85 84
+f 5 84 83
+f 5 83 81
+f 5 81 66
+f 5 66 51
+f 5 51 32
+f 5 32 19
+f 5 19 7
+f 5 7 6
+f 7 19 8
+f 8 19 20
+f 9 21 10
+f 9 22 21
+f 11 23 12
+f 12 24 25
+f 12 25 13
+f 12 23 24
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 19 32 20
+f 20 32 33
+f 21 22 34
+f 22 35 34
+f 23 36 24
+f 24 37 26
+f 24 26 25
+f 24 36 38
+f 24 38 39
+f 24 39 40
+f 24 40 37
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 26 37 44
+f 26 44 41
+f 27 43 28
+f 28 43 45
+f 28 45 29
+f 29 46 47
+f 29 47 48
+f 29 48 30
+f 29 45 46
+f 30 49 31
+f 30 48 50
+f 30 50 49
+f 32 51 52
+f 32 52 33
+f 34 35 53
+f 34 53 54
+f 34 54 55
+f 35 56 53
+f 37 40 58
+f 37 58 57
+f 37 57 64
+f 37 64 44
+f 41 44 42
+f 42 45 43
+f 42 44 59
+f 42 59 60
+f 42 60 61
+f 42 61 62
+f 42 62 63
+f 42 63 45
+f 44 64 70
+f 44 70 59
+f 45 63 46
+f 46 63 47
+f 47 63 48
+f 48 63 61
+f 48 61 65
+f 48 65 78
+f 48 78 77
+f 48 77 76
+f 48 76 75
+f 48 75 74
+f 48 74 86
+f 48 86 68
+f 48 68 55
+f 48 55 54
+f 48 54 53
+f 48 53 56
+f 48 56 50
+f 51 66 67
+f 51 67 52
+f 57 58 69
+f 57 69 64
+f 59 70 71
+f 59 71 60
+f 60 71 88
+f 60 88 72
+f 60 72 61
+f 61 72 73
+f 61 73 74
+f 61 74 75
+f 61 75 76
+f 61 76 77
+f 61 77 78
+f 61 78 65
+f 61 63 62
+f 64 69 79
+f 64 79 80
+f 64 80 68
+f 64 68 70
+f 66 81 67
+f 67 81 83
+f 67 83 84
+f 67 84 85
+f 67 85 79
+f 67 79 82
+f 68 86 87
+f 68 87 88
+f 68 88 71
+f 68 71 70
+f 69 82 79
+f 72 88 87
+f 72 87 73
+f 73 87 74
+f 74 87 86
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_75.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fbcaee093d903e061bfeca36da8e55958a4565b
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_75.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02687753 0.02163896 -0.00487972
+v -0.01719339 0.02395332 -0.00487971
+v -0.02687753 0.02169366 0.00394104
+v -0.02687753 0.02191278 -0.04899315
+v -0.01719339 0.02418021 -0.04418966
+v -0.01719339 0.02404712 0.00394105
+v -0.02687753 0.02189691 0.01277140
+v -0.02687753 0.02314035 -0.05447737
+v -0.01719339 0.02422714 -0.04899314
+v -0.01719339 0.02419565 0.00874454
+v -0.01719339 0.02432073 0.01277141
+v -0.02687753 0.02248329 0.02159217
+v -0.01719339 0.02558763 -0.05489922
+v -0.02687753 0.02367985 -0.05669214
+v -0.01719339 0.02471167 0.01757489
+v -0.01719339 0.02509477 0.02159218
+v -0.01719339 0.02568898 0.02443975
+v -0.02687753 0.02290549 0.02328921
+v -0.01719339 0.02824603 -0.05627026
+v -0.02687753 0.03128755 -0.05983691
+v -0.01719339 0.03128754 -0.05781389
+v -0.01719339 0.02627538 0.02677918
+v -0.02687753 0.02435196 0.02853374
+v -0.02687753 0.04021661 -0.06082442
+v -0.01719339 0.04021661 -0.05943419
+v -0.01719339 0.02898851 0.02790096
+v -0.02687753 0.02648648 0.02941582
+v -0.02687753 0.04914567 -0.06092026
+v -0.01719339 0.04914567 -0.05957797
+v -0.01719339 0.04429020 -0.05950128
+v -0.01719339 0.03128722 0.02885015
+v -0.02629070 0.04461824 0.03487134
+v -0.02640825 0.04461824 0.03487134
+v -0.02687753 0.04618200 0.03517816
+v -0.02687753 0.05701920 -0.06088188
+v -0.01719339 0.05321927 -0.05945331
+v -0.02687753 0.10151595 -0.06061326
+v -0.01719339 0.05943485 0.03673143
+v -0.02524881 0.04914532 0.03575344
+v -0.02687753 0.04914532 0.03575344
+v -0.01719339 0.05808255 -0.05914649
+v -0.02378695 0.10151594 -0.05657681
+v -0.02687753 0.10151572 0.00364411
+v -0.01719339 0.06163194 0.03673144
+v -0.02199232 0.05809001 0.03702864
+v -0.02687753 0.05052143 0.03595479
+v -0.01719339 0.06211704 -0.05794799
+v -0.02019865 0.10151591 -0.04982700
+v -0.02687753 0.10058527 0.00738335
+v -0.02573894 0.10151572 0.00180326
+v -0.01719339 0.06479855 0.03657805
+v -0.02687753 0.05808219 0.03676018
+v -0.02195914 0.06506439 0.03667392
+v -0.02687753 0.06042002 0.03664514
+v -0.01966206 0.10151591 -0.04843677
+v -0.01719339 0.06582315 -0.05631806
+v -0.02687753 0.09961573 0.01099795
+v -0.02432258 0.10151573 -0.00048822
+v -0.02617883 0.08977962 0.02641508
+v -0.02687753 0.09031912 0.02699035
+v -0.01719339 0.06839522 0.03051857
+v -0.02569628 0.09902932 0.01026927
+v -0.02687753 0.06455617 0.03619453
+v -0.01810066 0.10151587 -0.03913661
+v -0.01719339 0.06742598 -0.05186932
+v -0.02687753 0.09744990 0.01611782
+v -0.02066223 0.10151578 -0.01367144
+v -0.02687753 0.09418162 0.02159244
+v -0.01719339 0.06952897 0.02159235
+v -0.01817365 0.10151585 -0.03134174
+v -0.01832249 0.10151584 -0.02988439
+v -0.01719339 0.06834859 -0.04899298
+v -0.01719339 0.06959155 0.01277158
+v -0.01719339 0.06949777 0.00394122
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 23
+f 1 23 27
+f 1 27 34
+f 1 34 40
+f 1 40 46
+f 1 46 52
+f 1 52 54
+f 1 54 63
+f 1 63 60
+f 1 60 68
+f 1 68 66
+f 1 66 57
+f 1 57 49
+f 1 49 43
+f 1 43 37
+f 1 37 35
+f 1 35 28
+f 1 28 24
+f 1 24 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 13
+f 2 13 19
+f 2 19 21
+f 2 21 25
+f 2 25 30
+f 2 30 29
+f 2 29 36
+f 2 36 41
+f 2 41 47
+f 2 47 56
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+f 2 31 26
+f 2 26 22
+f 2 22 17
+f 2 17 16
+f 2 16 15
+f 2 15 11
+f 2 11 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 9
+f 8 14 13
+f 11 15 12
+f 12 16 17
+f 12 17 18
+f 12 15 16
+f 13 14 19
+f 14 20 21
+f 14 21 19
+f 17 22 18
+f 18 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 32 33
+f 27 33 34
+f 27 31 32
+f 28 35 29
+f 29 35 37
+f 29 37 36
+f 31 38 32
+f 32 38 39
+f 32 39 34
+f 32 34 33
+f 34 39 40
+f 36 37 41
+f 37 42 41
+f 37 43 50
+f 37 50 58
+f 37 58 67
+f 37 67 71
+f 37 71 70
+f 37 70 64
+f 37 64 55
+f 37 55 48
+f 37 48 42
+f 38 44 45
+f 38 45 39
+f 39 46 40
+f 39 45 46
+f 41 42 47
+f 42 48 47
+f 43 49 50
+f 44 51 45
+f 45 52 46
+f 45 51 53
+f 45 53 54
+f 45 54 52
+f 47 48 55
+f 47 55 56
+f 49 57 58
+f 49 58 50
+f 51 59 60
+f 51 60 53
+f 51 61 62
+f 51 62 59
+f 53 63 54
+f 53 60 63
+f 55 64 56
+f 56 64 65
+f 57 66 62
+f 57 62 58
+f 58 62 67
+f 59 68 60
+f 59 62 68
+f 61 69 64
+f 61 64 70
+f 61 70 71
+f 61 71 67
+f 61 67 62
+f 62 66 68
+f 64 72 65
+f 64 69 73
+f 64 73 74
+f 64 74 72
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_76.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b728239ab587a157a84976e27b84cfb50791a01
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_76.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02201731 -0.21169334 0.01495262
+v 0.02269348 -0.21311580 0.02248196
+v 0.02846530 -0.21325607 0.02012573
+v 0.03034777 -0.21255462 0.01495262
+v 0.01966423 -0.21178795 0.01495262
+v 0.01307019 -0.21392491 0.02691925
+v 0.02618795 -0.21432945 0.02600815
+v 0.02035663 -0.21395101 0.02682957
+v 0.03452922 -0.21563439 0.01495261
+v -0.00169744 -0.21394117 0.01495261
+v -0.00169744 -0.21415000 0.02042127
+v 0.00013094 -0.21434902 0.02574114
+v 0.00596766 -0.21416307 0.02640357
+v 0.01307019 -0.21878924 0.03080213
+v 0.03430203 -0.21608788 0.01607365
+v 0.02269348 -0.21789859 0.02869865
+v 0.03075888 -0.24501941 0.03228793
+v 0.05356485 -0.24501937 0.02087773
+v 0.05356485 -0.24354472 0.01495251
+v -0.00169744 -0.24501934 0.01495250
+v -0.00169744 -0.21453499 0.02498290
+v -0.00169744 -0.21631629 0.02691518
+v 0.00355508 -0.21791164 0.02902069
+v -0.00169744 -0.21881208 0.02880056
+v -0.00169744 -0.24501942 0.03508646
+v 0.00071515 -0.24501942 0.03537793
+v 0.00431239 -0.24501942 0.03562456
+v 0.00904019 -0.24501942 0.03574686
+v 0.01307019 -0.24501942 0.03577336
+v 0.02182257 -0.24501942 0.03485206
+v 0.05356485 -0.24501934 0.01495250
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 20
+f 1 20 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 7
+f 3 7 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 8
+f 6 13 14
+f 7 15 9
+f 7 8 16
+f 7 16 17
+f 7 17 18
+f 7 18 15
+f 8 14 16
+f 9 15 18
+f 9 18 19
+f 10 20 25
+f 10 25 24
+f 10 24 22
+f 10 22 21
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 16
+f 16 30 17
+f 17 30 29
+f 17 29 28
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 17 25 20
+f 17 20 31
+f 17 31 18
+f 18 31 19
+f 22 24 23
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_77.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e596188c2e48ccc5c7eb82af9412b9cab786cb46
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_77.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.06301302 -0.16095694 0.14484795
+v -0.08324898 -0.16095694 0.14471729
+v -0.06301302 -0.16095687 0.12587708
+v -0.06301302 0.00088773 0.14385828
+v -0.06574135 0.00088773 0.14385828
+v -0.06927174 0.00088773 0.14385140
+v -0.07449684 0.00088773 0.14383994
+v -0.08324898 0.00088773 0.14381931
+v -0.09200447 0.00088773 0.14378722
+v -0.09200447 -0.16095694 0.14463248
+v -0.09553486 0.00088773 0.14376429
+v -0.09728998 0.00088773 0.14375054
+v -0.09728998 -0.16095686 0.12384841
+v -0.06301302 -0.15602992 0.12455904
+v -0.06301302 0.00088780 0.12435560
+v -0.09728998 -0.16095694 0.14424507
+v -0.09728998 0.00088780 0.12455044
+v -0.06301302 -0.08481889 0.12143034
+v -0.06301302 -0.08759129 0.12144867
+v -0.06301302 -0.09373810 0.12151283
+v -0.06301302 -0.13839746 0.12217284
+v -0.06301302 -0.14622355 0.12272983
+v -0.06301302 -0.14833056 0.12296135
+v -0.06301302 -0.15061185 0.12322037
+v -0.09728998 -0.06873900 0.12410549
+v -0.06301302 -0.07589970 0.12150372
+v -0.09728998 -0.00041128 0.12452752
+v -0.09728998 -0.05993069 0.12413990
+v -0.09728998 -0.00445105 0.12446332
+v -0.06301302 -0.07868794 0.12147621
+f 1 2 10
+f 1 10 16
+f 1 16 13
+f 1 13 3
+f 1 3 14
+f 1 14 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 30
+f 1 30 26
+f 1 26 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 12
+f 2 12 10
+f 3 13 14
+f 4 15 17
+f 4 17 12
+f 4 12 11
+f 4 11 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 12 16
+f 12 17 27
+f 12 27 29
+f 12 29 28
+f 12 28 25
+f 12 25 13
+f 12 13 16
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 13 25 18
+f 15 26 17
+f 17 26 27
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 26 30 29
+f 26 29 27
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_78.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a09e096f6e35b97a7168df060c12a4bf903c48f
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_78.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.13098710 0.12088668
+v -0.00169744 -0.13098719 0.14378640
+v 0.00431332 -0.13098710 0.12091138
+v -0.00169744 -0.19690005 0.12045281
+v 0.00431332 -0.13098719 0.14377818
+v -0.00169744 -0.17413126 0.14406069
+v 0.04808688 -0.17413128 0.14839419
+v 0.01307250 -0.13098710 0.12100469
+v 0.02182423 -0.19690005 0.12082057
+v -0.00169744 -0.19690014 0.14414845
+v 0.02182423 -0.13098710 0.12111172
+v 0.04956908 -0.13098711 0.12146301
+v 0.01307250 -0.13098719 0.14375074
+v -0.00169744 -0.18306075 0.14410183
+v 0.04808688 -0.18306077 0.14844630
+v 0.07439421 -0.17413127 0.14775473
+v 0.07439421 -0.13098719 0.14342414
+v 0.07287476 -0.13098719 0.14343238
+v 0.02182423 -0.13098719 0.14370682
+v 0.02663582 -0.19690005 0.12109227
+v 0.05832081 -0.13098711 0.12160298
+v 0.07435697 -0.13841329 0.12245099
+v -0.00169744 -0.19199023 0.14413198
+v 0.04808688 -0.19690016 0.14849017
+v 0.04808688 -0.19199025 0.14848743
+v 0.07439421 -0.19687434 0.14781503
+v 0.07439421 -0.13098711 0.12263215
+v 0.03058341 -0.19690006 0.12143533
+v 0.07439421 -0.13841329 0.12245374
+v 0.07439421 -0.14556849 0.12273914
+v 0.06708000 -0.13098711 0.12201739
+v 0.07435697 -0.19690015 0.14781503
+v 0.07439421 -0.19690008 0.12855993
+v 0.03524604 -0.19690006 0.12206929
+v 0.07439421 -0.19690008 0.12837880
+v 0.06258868 -0.19690007 0.12646042
+f 1 2 5
+f 1 5 13
+f 1 13 19
+f 1 19 18
+f 1 18 17
+f 1 17 27
+f 1 27 31
+f 1 31 21
+f 1 21 12
+f 1 12 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 4 9 20
+f 4 20 28
+f 4 28 34
+f 4 34 36
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+f 4 33 32
+f 4 32 24
+f 4 24 10
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 5 7 13
+f 6 14 25
+f 6 25 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 13
+f 9 12 21
+f 9 21 22
+f 9 22 20
+f 10 24 25
+f 10 25 23
+f 14 23 25
+f 15 25 16
+f 16 26 33
+f 16 33 35
+f 16 35 30
+f 16 30 29
+f 16 29 27
+f 16 27 17
+f 16 25 26
+f 20 22 29
+f 20 29 30
+f 20 30 28
+f 21 31 22
+f 22 31 29
+f 24 32 26
+f 24 26 25
+f 26 32 33
+f 27 29 31
+f 28 30 34
+f 30 35 36
+f 30 36 34
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_79.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47774de9c229c25e1552bb07168fc3d359370eb1
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_79.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 0.17272388 -0.02894694
+v -0.02687848 0.19998765 -0.02367459
+v -0.03082351 0.19998764 -0.02233797
+v -0.03060612 0.17272388 -0.02930894
+v -0.02687848 0.17272390 -0.03427488
+v -0.02687848 0.19998778 -0.05867750
+v -0.03130019 0.19998764 -0.02238438
+v -0.03198827 0.17272388 -0.02984731
+v -0.02689443 0.17272399 -0.05998638
+v -0.02687848 0.17316700 -0.05994924
+v -0.02687848 0.19895232 -0.05875176
+v -0.03391093 0.19998797 -0.11076880
+v -0.03199027 0.19998764 -0.02311766
+v -0.03732145 0.17272389 -0.03302179
+v -0.03378129 0.17272418 -0.11076890
+v -0.02687848 0.18311070 -0.05955936
+v -0.03377929 0.17418132 -0.11076889
+v -0.03380921 0.18311089 -0.11076886
+v -0.02687848 0.19204030 -0.05915090
+v -0.03470672 0.18311091 -0.11716424
+v -0.03401065 0.19998797 -0.11147424
+v -0.03805142 0.19998767 -0.03036701
+v -0.03817906 0.19998767 -0.03054337
+v -0.04028122 0.17272391 -0.03865605
+v -0.03392489 0.17272418 -0.11181777
+v -0.03466882 0.17272420 -0.11716428
+v -0.03467082 0.17460299 -0.11716427
+v -0.03470871 0.18339114 -0.11716424
+v -0.03481043 0.19998799 -0.11702495
+v -0.04202836 0.19998771 -0.04017822
+v -0.04079978 0.17272392 -0.04017832
+v -0.04719201 0.17272420 -0.11716428
+v -0.03483635 0.19998799 -0.11716418
+v -0.04350625 0.19998773 -0.04678709
+v -0.04276432 0.17272394 -0.04715847
+v -0.04724985 0.19850417 -0.11716418
+v -0.04496221 0.17272401 -0.06666023
+v -0.04503401 0.19998780 -0.06666013
+v -0.04725184 0.19998799 -0.11716418
+v -0.04358803 0.19998773 -0.04727904
+v -0.04394902 0.17272396 -0.05290411
+v -0.04487644 0.17272401 -0.06522150
+v -0.04463910 0.19998777 -0.05783282
+v -0.04408265 0.19998775 -0.05120538
+v -0.04434193 0.17272398 -0.05700681
+v -0.04441971 0.17272398 -0.05783292
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
+f 1 24 31
+f 1 31 35
+f 1 35 41
+f 1 41 45
+f 1 45 46
+f 1 46 42
+f 1 42 37
+f 1 37 32
+f 1 32 26
+f 1 26 25
+f 1 25 15
+f 1 15 9
+f 1 9 5
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+f 1 10 16
+f 1 16 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
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+f 2 33 39
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+f 2 44 40
+f 2 40 34
+f 2 34 30
+f 2 30 23
+f 2 23 22
+f 2 22 13
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+f 2 7 3
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+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 11 19 12
+f 12 19 16
+f 12 16 18
+f 12 18 20
+f 12 20 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 15 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 20
+f 20 27 26
+f 20 26 32
+f 20 32 36
+f 20 36 39
+f 20 39 33
+f 20 33 28
+f 20 28 21
+f 21 28 29
+f 23 30 24
+f 24 30 31
+f 28 33 29
+f 30 34 35
+f 30 35 31
+f 32 37 38
+f 32 38 36
+f 34 40 41
+f 34 41 35
+f 36 38 39
+f 37 42 43
+f 37 43 38
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 46 44
+f 44 46 45
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_8.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6a86dac4fc15ea4ec6928e0d2fe4ef0d5e7fce
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_8.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.06361996 0.01343356 -0.15117540
+v 0.05684378 0.02235617 -0.15095327
+v 0.06361996 0.02438684 -0.15116796
+v 0.06361996 -0.00094519 -0.15116805
+v 0.05684378 -0.00254511 -0.15095336
+v 0.05213635 -0.00254511 -0.15060541
+v 0.05221212 0.20700305 -0.15058984
+v 0.05684378 0.20700305 -0.15080453
+v 0.06361996 0.03129930 -0.15116054
+v 0.06361996 -0.00254510 -0.15116066
+v 0.04868732 -0.00254511 -0.14890267
+v 0.05078902 0.20700305 -0.14976068
+v 0.04775835 -0.00254511 -0.14844367
+v 0.04778800 0.02235617 -0.14842878
+v 0.05968997 0.20700305 -0.15084894
+v 0.06361996 0.18511699 -0.15093787
+v 0.06361996 -0.00254516 -0.13579898
+v 0.04783412 0.20700304 -0.14803572
+v 0.04187489 -0.00254513 -0.14403136
+v 0.04186501 0.02235615 -0.14401647
+v 0.06361996 0.20700305 -0.15090077
+v 0.06361996 0.20298274 -0.15090819
+v 0.06361996 0.19406013 -0.15092304
+v 0.04530746 0.01337174 -0.07554416
+v 0.04530416 0.00444913 -0.07554419
+v 0.04530087 -0.00254538 -0.07554422
+v 0.06361996 0.17416366 -0.13579093
+v 0.04207913 0.13845271 -0.14376432
+v 0.04210219 0.14737533 -0.14374949
+v 0.04228008 0.20700303 -0.14362341
+v 0.03855763 -0.00254516 -0.13725002
+v 0.03855433 0.00449037 -0.13724999
+v 0.03854774 0.02235612 -0.13724993
+v 0.03856092 0.03129924 -0.13724990
+v 0.06361996 0.20700300 -0.13579081
+v 0.04530746 0.01343328 -0.07554416
+v 0.03210757 -0.00254538 -0.07554422
+v 0.03890352 0.13845268 -0.13724950
+v 0.03858728 0.04022186 -0.13724986
+v 0.04130500 0.20700302 -0.14155791
+v 0.03893976 0.14737530 -0.13724947
+v 0.03898917 0.15629793 -0.13724944
+v 0.03687099 -0.00254518 -0.13029840
+v 0.03641969 -0.00254519 -0.12842539
+v 0.03642957 0.00449034 -0.12842536
+v 0.03644275 0.01343347 -0.12842533
+v 0.03653498 0.07595332 -0.12842510
+v 0.03655145 0.08487593 -0.12842507
+v 0.03668322 0.14737527 -0.12842484
+v 0.03670299 0.15629790 -0.12842481
+v 0.04517240 0.20700278 -0.07554345
+v 0.04522510 0.18310658 -0.07554354
+v 0.03088212 0.04916477 -0.07554403
+v 0.03211086 -0.00254538 -0.07735801
+v 0.03688088 0.20700297 -0.12842462
+v 0.03928236 0.20700300 -0.13724925
+v 0.03850163 0.20700299 -0.13438420
+v 0.03462764 -0.00254523 -0.11750564
+v 0.03465399 0.05808753 -0.11726852
+v 0.03470011 0.14737523 -0.11692024
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+v 0.03013104 0.20700278 -0.07554345
+v 0.03072071 0.05808738 -0.07554400
+v 0.03212404 -0.00254535 -0.08430963
+v 0.03401491 -0.00254525 -0.11219753
+v 0.03384362 0.05808751 -0.11078330
+v 0.03395232 0.14737521 -0.11078297
+v 0.03396550 0.15629784 -0.11078294
+v 0.03477258 0.20700293 -0.11650544
+v 0.03176497 0.20700283 -0.09026104
+v 0.02996963 0.18316811 -0.07554354
+v 0.03060211 0.06701000 -0.07554396
+v 0.03251275 -0.00254532 -0.09313426
+v 0.03220639 -0.00254534 -0.08618264
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+v 0.03015081 0.10272098 -0.07554383
+v 0.03306948 -0.00254529 -0.10195889
+v 0.03005198 0.11164359 -0.07554380
+v 0.03002233 0.12058672 -0.07554377
+f 1 2 3
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+f 1 27 17
+f 1 17 10
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+f 71 79 77
+f 72 80 73
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+f 75 82 83
+f 75 83 76
+f 80 82 81
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_80.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ab605fde9ed366464b9a47aad9ccab0d5b79e4
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_80.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01532977 0.02375341 0.00621794
+v 0.01532977 0.02376839 0.01505850
+v -0.01719187 0.02394871 -0.00488666
+v 0.01532977 0.02375342 0.00393429
+v 0.01532977 0.02378840 0.02159580
+v -0.01719187 0.02418417 -0.04418891
+v 0.01532977 0.02401896 -0.04900123
+v 0.01532977 0.02379840 0.02386965
+v -0.01719187 0.02404881 0.00394409
+v -0.01719187 0.02423425 -0.04899143
+v 0.01532977 0.02494022 -0.05349012
+v 0.01532977 0.02390352 0.03041676
+v -0.01719187 0.02419399 0.00873681
+v -0.01719187 0.02559109 -0.05490147
+v 0.01532977 0.02532072 -0.05515630
+v 0.01532977 0.02435411 0.03305324
+v 0.01306319 0.02403369 0.03041676
+v -0.01719187 0.02471465 0.01756757
+v -0.01719187 0.02432414 0.01276505
+v -0.01719187 0.02824465 -0.05627361
+v -0.01719187 0.03128872 -0.05781236
+v 0.01532977 0.02968157 -0.05734191
+v 0.01532977 0.02541051 0.03837522
+v -0.01719187 0.02510015 0.02158600
+v 0.01532977 0.03128872 -0.05813580
+v -0.01719187 0.04022068 -0.05943930
+v 0.01532977 0.02706272 0.03903190
+v -0.00007153 0.02682240 0.03483704
+v 0.00430883 0.02621159 0.03572894
+v 0.01306319 0.02550063 0.03774795
+v -0.01719187 0.02569093 0.02443811
+v 0.01532977 0.03790758 -0.05925309
+v -0.01719187 0.04914761 -0.05957648
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+v 0.01532977 0.04022068 -0.05958631
+v 0.01532977 0.03124830 0.04033545
+v -0.01719187 0.05942601 0.03672877
+v -0.01719187 0.03128840 0.02884861
+v -0.01719187 0.02898533 0.02789790
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+v 0.01532977 0.06880887 -0.04900107
+v -0.01719187 0.06949961 0.00394426
+v -0.01719187 0.06958969 0.01276522
+v -0.01719187 0.06834325 -0.04899127
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 15
+f 1 15 22
+f 1 22 25
+f 1 25 32
+f 1 32 35
+f 1 35 34
+f 1 34 41
+f 1 41 46
+f 1 46 53
+f 1 53 58
+f 1 58 55
+f 1 55 54
+f 1 54 50
+f 1 50 49
+f 1 49 43
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+f 1 36 27
+f 1 27 23
+f 1 23 16
+f 1 16 12
+f 1 12 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 4
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+f 3 9 13
+f 3 13 19
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+f 3 57 52
+f 3 52 48
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+f 3 20 14
+f 3 14 10
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+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
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+f 17 23 24
+f 17 24 18
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+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 25 26 32
+f 26 33 34
+f 26 34 35
+f 26 35 32
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 40 30
+f 30 40 31
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+f 33 42 41
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 41 42 47
+f 41 47 48
+f 41 48 46
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+f 44 49 50
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+f 52 57 58
+f 52 58 53
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+f 55 60 56
+f 55 58 61
+f 55 61 59
+f 57 61 58
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_81.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c9473ad401d15cd3bff355346b2bb40b1bbd12c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_81.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.24502198 0.01496161
+v 0.05356485 -0.24502198 0.01496161
+v -0.00169744 -0.27163926 0.01496151
+v -0.00169744 -0.24502206 0.03508899
+v 0.05356485 -0.24502201 0.02087767
+v 0.05356485 -0.27179388 0.01496151
+v 0.04808514 -0.27178075 0.01496151
+v -0.00169744 -0.27161846 0.06571751
+v 0.00071515 -0.24502206 0.03538069
+v -0.00169744 -0.24738894 0.10807808
+v 0.03075888 -0.24502205 0.03229048
+v 0.05356485 -0.24752785 0.10807808
+v 0.05024889 -0.27178602 0.01496151
+v 0.05356485 -0.27157145 0.10807799
+v -0.00169744 -0.27159759 0.08614571
+v -0.00169744 -0.27160282 0.08337454
+v -0.00169744 -0.27161325 0.07455059
+v 0.00431239 -0.24502206 0.03562681
+v -0.00169744 -0.27153737 0.10807799
+v 0.00046632 -0.24739156 0.10807808
+v 0.01307019 -0.24502206 0.03578178
+v 0.00904019 -0.24502206 0.03575443
+v 0.02182257 -0.24502206 0.03486109
+v 0.01307019 -0.24741776 0.10807808
+v -0.00169744 -0.27157402 0.09496967
+v 0.00431239 -0.24739681 0.10807808
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 15
+f 1 15 25
+f 1 25 19
+f 1 19 10
+f 1 10 4
+f 1 4 9
+f 1 9 18
+f 1 18 22
+f 1 22 21
+f 1 21 23
+f 1 23 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 14
+f 2 14 6
+f 3 7 8
+f 4 10 9
+f 5 11 12
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 13
+f 7 13 17
+f 7 17 8
+f 9 10 18
+f 10 19 14
+f 10 14 12
+f 10 12 24
+f 10 24 26
+f 10 26 20
+f 10 20 21
+f 10 21 22
+f 10 22 18
+f 11 23 12
+f 12 23 21
+f 12 21 24
+f 14 19 25
+f 14 25 15
+f 20 26 21
+f 21 26 24
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_82.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a35273f5cd356960e516bcd59cee5cf23d2dec
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_82.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.20092739 -0.06023729
+v -0.02687848 -0.19206664 -0.06018187
+v -0.00169744 -0.20092743 -0.04960134
+v -0.00169744 -0.20985774 -0.04950535
+v -0.02687848 -0.20985770 -0.05990864
+v -0.00169744 -0.19206668 -0.04941297
+v -0.02687848 -0.19206675 -0.02964414
+v -0.00169744 -0.21878398 -0.04880001
+v -0.02687848 -0.21878394 -0.05931409
+v -0.00169744 -0.19206675 -0.03095886
+v -0.02205720 -0.19206675 -0.02986572
+v -0.02687848 -0.20587563 -0.02250924
+v -0.00169744 -0.22080987 -0.04805403
+v -0.02687848 -0.23387383 -0.05782217
+v -0.00169744 -0.21151131 -0.02250926
+v -0.02687848 -0.23387396 -0.02250934
+v -0.00169744 -0.22526277 -0.04637741
+v -0.02081491 -0.23387389 -0.04018052
+v -0.00169744 -0.22614272 -0.04444226
+v -0.00169744 -0.22807858 -0.04018050
+v -0.00169744 -0.22868438 -0.02250932
+v -0.01934832 -0.23387396 -0.02250934
+v -0.01922508 -0.23387392 -0.03176040
+v -0.00169744 -0.22831597 -0.03740703
+v -0.00169744 -0.22881531 -0.03135414
+v -0.00169744 -0.22877440 -0.02858437
+v -0.01920782 -0.23387394 -0.02774976
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 10
+f 2 10 6
+f 3 6 10
+f 3 10 15
+f 3 15 21
+f 3 21 26
+f 3 26 25
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+f 3 20 19
+f 3 19 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 7 12 11
+f 8 13 14
+f 8 14 9
+f 10 11 12
+f 10 12 15
+f 12 16 22
+f 12 22 21
+f 12 21 15
+f 13 17 14
+f 14 18 23
+f 14 23 27
+f 14 27 22
+f 14 22 16
+f 14 17 19
+f 14 19 20
+f 14 20 18
+f 18 20 24
+f 18 24 25
+f 18 25 23
+f 21 22 26
+f 22 27 25
+f 22 25 26
+f 23 25 27
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_83.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a21f2c2d98948d056fe21bf9e5b3ae3747abea1
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_83.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.06300613 0.23669779 -0.15091087
+v -0.05697955 0.23669779 -0.15089264
+v -0.06225988 0.22665582 -0.15090180
+v -0.06300613 0.22665582 -0.15090180
+v -0.06300613 0.24172770 -0.15069220
+v -0.05697955 0.24171748 -0.15069220
+v -0.05226863 0.24152579 -0.15061933
+v -0.05210948 0.23669779 -0.15068312
+v -0.05697955 0.22665582 -0.15088357
+v -0.06300613 0.22665575 -0.13075978
+v -0.06300613 0.24619278 -0.14785901
+v -0.05697955 0.24618255 -0.14796834
+v -0.05027392 0.25085465 -0.14297608
+v -0.04835347 0.24553080 -0.14592772
+v -0.04294936 0.24358324 -0.14299434
+v -0.04773101 0.23669778 -0.14805947
+v -0.05214131 0.22776762 -0.15067404
+v -0.05214838 0.22665582 -0.15067405
+v -0.04928010 0.22665548 -0.05784403
+v -0.06300613 0.23023113 -0.05784401
+v -0.06300613 0.25110257 -0.14344981
+v -0.05697955 0.25118179 -0.14355912
+v -0.05697955 0.25231145 -0.13724594
+v -0.04770272 0.25129168 -0.13758301
+v -0.04332425 0.25054791 -0.13486826
+v -0.04444186 0.24953582 -0.14075327
+v -0.04193785 0.24618764 -0.13758303
+v -0.03973801 0.23669774 -0.13724600
+v -0.04248958 0.23669777 -0.14364115
+v -0.04711208 0.22665581 -0.14747647
+v -0.04776991 0.22665581 -0.14802306
+v -0.04249666 0.22665580 -0.14361386
+v -0.02714019 0.22665548 -0.05784403
+v -0.06300613 0.25212203 -0.05784393
+v -0.06300613 0.25217599 -0.13724594
+v -0.04822615 0.25262062 -0.11077253
+v -0.04822615 0.25254653 -0.11960003
+v -0.04822615 0.25220151 -0.12842754
+v -0.04262398 0.25102072 -0.12842755
+v -0.03473708 0.25046088 -0.09949446
+v -0.03554699 0.24954847 -0.10537036
+v -0.03941971 0.24562786 -0.12842757
+v -0.03491038 0.24178892 -0.11612008
+v -0.03724108 0.23669771 -0.12842760
+v -0.03962837 0.22776757 -0.13724603
+v -0.03708547 0.22776754 -0.12842763
+v -0.03962837 0.22665577 -0.13724604
+v -0.04249312 0.22776760 -0.14361385
+v -0.02769546 0.23669748 -0.06665327
+v -0.02688201 0.23650322 -0.05937445
+v -0.02688201 0.23265920 -0.05784401
+v -0.03272468 0.22665565 -0.10305653
+v -0.03947276 0.25276354 -0.05784393
+v -0.06300613 0.25220920 -0.12842754
+v -0.06300613 0.25219897 -0.13117873
+v -0.03947276 0.25265117 -0.07548073
+v -0.03947276 0.25251061 -0.08430823
+v -0.03947276 0.25218861 -0.09313573
+v -0.04176102 0.25136062 -0.11960004
+v -0.03427023 0.25087745 -0.09313574
+v -0.02767070 0.24519566 -0.05784396
+v -0.02890856 0.24562763 -0.06665324
+v -0.02999433 0.24562767 -0.07548076
+v -0.03109425 0.24562770 -0.08430826
+v -0.03224015 0.24562773 -0.09313576
+v -0.03374680 0.24619262 -0.10224568
+v -0.03440463 0.24345788 -0.11077257
+v -0.03235333 0.23669761 -0.10195419
+v -0.03369021 0.23669765 -0.11077259
+v -0.03476184 0.23669767 -0.11699466
+v -0.03561419 0.23669769 -0.12141297
+v -0.03708900 0.22665574 -0.12842764
+v -0.03740377 0.22665575 -0.12952082
+v -0.03557175 0.22776752 -0.12174095
+v -0.02765656 0.24510877 -0.05784396
+v -0.02688201 0.23802138 -0.05784399
+v -0.03375387 0.22665568 -0.11077263
+v -0.03225784 0.25150862 -0.05784394
+v -0.03278481 0.25147288 -0.06665322
+v -0.03327287 0.25141413 -0.07548074
+v -0.03374326 0.25123269 -0.08430824
+v -0.03386705 0.22665568 -0.11157430
+v -0.03473355 0.22776750 -0.11733175
+v -0.03576627 0.22665572 -0.12256996
+v -0.03473708 0.22665570 -0.11731355
+v -0.03547272 0.22665572 -0.12117615
+v -0.03557882 0.22665572 -0.12172274
+f 1 2 3
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+f 1 4 10
+f 1 10 20
+f 1 20 34
+f 1 34 54
+f 1 54 55
+f 1 55 35
+f 1 35 21
+f 1 21 11
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+f 43 70 71
+f 43 71 44
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+f 45 46 47
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+f 46 73 47
+f 46 71 74
+f 46 74 72
+f 49 68 65
+f 49 65 64
+f 49 64 75
+f 49 75 50
+f 49 52 68
+f 50 75 76
+f 50 76 51
+f 52 77 68
+f 53 78 56
+f 56 78 79
+f 56 79 57
+f 57 79 80
+f 57 80 81
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+f 58 81 59
+f 59 81 60
+f 60 81 61
+f 61 75 64
+f 61 64 63
+f 61 63 62
+f 61 81 80
+f 61 80 78
+f 65 67 66
+f 68 77 82
+f 68 82 83
+f 68 83 69
+f 69 83 70
+f 70 83 74
+f 70 74 71
+f 72 74 84
+f 74 83 85
+f 74 85 86
+f 74 86 87
+f 74 87 84
+f 78 80 79
+f 82 85 83
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_84.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18122f195cd43725ab82d953db6932f641cf10b
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_84.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01926388 -0.12848655 -0.05235573
+v 0.01926388 -0.12055271 -0.05221973
+v 0.01926388 -0.12948411 -0.05235574
+v -0.00169539 -0.19205980 -0.04941578
+v 0.01926388 -0.11952719 -0.05219707
+v 0.01926388 -0.13764170 -0.05227362
+v 0.01926388 -0.19205046 -0.05155152
+v 0.01311870 -0.19205980 -0.04979251
+v -0.00169539 -0.19205987 -0.03095891
+v -0.00169539 -0.19199453 -0.04941295
+v 0.01926388 -0.13841551 -0.05226512
+v 0.01926388 -0.11083820 -0.05135294
+v -0.00169539 -0.18306315 -0.04874160
+v 0.01926388 -0.19205985 -0.03502928
+v 0.01926388 -0.19205987 -0.02948316
+v 0.00431027 -0.11921964 -0.02382346
+v -0.00169539 -0.11854839 -0.02492249
+v -0.00169539 -0.12055275 -0.04019274
+v 0.01926388 -0.10238228 -0.04901323
+v -0.00169539 -0.17692864 -0.04805043
+v -0.00169539 -0.17413175 -0.04772468
+v -0.00169539 -0.16799725 -0.04690889
+v -0.00169539 -0.16520038 -0.04653498
+v 0.01926388 -0.11162142 -0.02415767
+v 0.01306535 -0.11162142 -0.02342121
+v 0.00448057 -0.11091288 -0.02425114
+v -0.00169539 -0.11259102 -0.02506409
+v -0.00169539 -0.11204091 -0.03758677
+v 0.01926388 -0.10165510 -0.04866482
+v 0.01926388 -0.10580390 -0.02397070
+v 0.01926388 -0.10424697 -0.02483745
+v 0.00751110 -0.10705317 -0.02661347
+v -0.00169539 -0.10902029 -0.03135233
+v 0.01926388 -0.09756234 -0.04364554
+v 0.01926388 -0.10035926 -0.03135230
+v 0.01926388 -0.10022874 -0.03166388
+v 0.01926388 -0.09681651 -0.04017566
+f 1 2 5
+f 1 5 12
+f 1 12 19
+f 1 19 29
+f 1 29 34
+f 1 34 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
+f 1 31 30
+f 1 30 24
+f 1 24 15
+f 1 15 14
+f 1 14 7
+f 1 7 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 8
+f 4 8 14
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+f 4 18 23
+f 4 23 22
+f 4 22 21
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+f 4 20 13
+f 4 13 10
+f 4 10 5
+f 4 6 11
+f 4 11 7
+f 5 10 13
+f 5 13 12
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+f 12 23 18
+f 15 24 25
+f 15 25 16
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+f 16 27 17
+f 18 28 19
+f 19 28 29
+f 24 30 25
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+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 33
+f 33 37 34
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_85.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f6b97003e81dfcb0b5f42f8246f4c9283e0066
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_85.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02687848 -0.23387409 0.01350592
+v -0.02196354 -0.23387409 0.01285631
+v -0.00169744 -0.22569550 0.02893530
+v -0.00444823 -0.22561601 0.02868351
+v -0.01320342 -0.22525968 0.02798355
+v -0.01995714 -0.22443470 0.02711239
+v -0.02687848 -0.22545427 0.02049548
+v -0.02687848 -0.23387396 -0.02250934
+v -0.01964410 -0.23387405 0.00394818
+v -0.00169744 -0.22863637 0.02159829
+v -0.00169744 -0.22770450 0.02407081
+v -0.00169744 -0.21881051 0.02879936
+v -0.00444823 -0.21928193 0.02868353
+v -0.01320342 -0.22001921 0.02798357
+v -0.01995714 -0.22128821 0.02711240
+v -0.02687848 -0.22300396 0.02076742
+v -0.02687848 -0.20587357 -0.02250924
+v -0.01934832 -0.23387396 -0.02250934
+v -0.00169744 -0.22880354 0.01554035
+v -0.01946663 -0.23387402 -0.00466789
+v -0.00169744 -0.21631634 0.02691099
+v -0.02687848 -0.21394274 0.01793739
+v -0.02687848 -0.21870085 0.02070198
+v -0.00169744 -0.21453478 0.02498232
+v -0.00169744 -0.21415106 0.02041999
+v -0.00169744 -0.21151147 -0.02250926
+v -0.02687848 -0.21388792 0.01766546
+v -0.01935079 -0.23387396 -0.02186477
+v -0.00169744 -0.22868555 -0.02250932
+v -0.00169744 -0.22881724 0.01277072
+v -0.01946417 -0.23387402 -0.00487435
+v -0.01938776 -0.23387399 -0.01369688
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 23
+f 1 23 22
+f 1 22 27
+f 1 27 17
+f 1 17 8
+f 1 8 18
+f 1 18 28
+f 1 28 32
+f 1 32 31
+f 1 31 20
+f 1 20 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 10
+f 3 10 19
+f 3 19 30
+f 3 30 29
+f 3 29 26
+f 3 26 25
+f 3 25 24
+f 3 24 21
+f 3 21 12
+f 3 12 13
+f 3 13 14
+f 3 14 5
+f 3 5 4
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 8 17 26
+f 8 26 29
+f 8 29 18
+f 9 19 10
+f 9 20 19
+f 12 14 13
+f 12 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 17 24 25
+f 17 25 26
+f 17 27 24
+f 18 29 30
+f 18 30 28
+f 19 20 30
+f 20 31 30
+f 21 24 22
+f 22 24 27
+f 28 30 32
+f 30 31 32
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_86.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d75852e40660f5d621b834587c1ea5123fb9518
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_86.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03119524 -0.06742363 -0.02916952
+v -0.03136699 -0.06742363 -0.02922604
+v -0.02687848 -0.06742363 -0.02922604
+v -0.02687848 -0.06601747 -0.02712081
+v -0.02687848 -0.06442988 -0.02501558
+v -0.02861892 -0.06432782 -0.02507210
+v -0.04399667 -0.02690585 0.01744231
+v -0.03637077 -0.06742362 -0.03318217
+v -0.02687848 -0.06742352 -0.05960347
+v -0.02687848 -0.05561870 -0.01615663
+v -0.04330507 -0.01820809 0.02621647
+v -0.04341957 -0.02690585 0.01744231
+v -0.03919670 -0.06742359 -0.04019017
+v -0.04406079 -0.01820809 0.02621647
+v -0.04466766 -0.02163276 0.02087569
+v -0.04609207 -0.02230179 0.01276562
+v -0.04413636 -0.06742355 -0.05265198
+v -0.03485704 -0.06742331 -0.11675542
+v -0.02687848 -0.06691321 -0.05974476
+v -0.02687848 0.02396550 0.02717741
+v -0.03435094 -0.01931938 0.01860093
+v -0.03769213 -0.01336588 0.02392759
+v -0.03471506 -0.00135680 0.02690887
+v -0.03531963 -0.00176504 0.02717731
+v -0.03872037 -0.00742372 0.02717729
+v -0.04160127 -0.01188035 0.02717728
+v -0.04471346 -0.01191437 0.02717728
+v -0.04631879 -0.01336587 0.02159630
+v -0.04592261 -0.00445263 0.02717730
+v -0.04756916 -0.01336584 0.01276565
+v -0.04696916 -0.02230175 0.00394910
+v -0.04476613 -0.06742353 -0.05782321
+v -0.04473406 -0.06742353 -0.05755476
+v -0.03493261 -0.06742331 -0.11716516
+v -0.03468529 0.04052248 -0.11716476
+v -0.02687848 -0.05802263 -0.06015446
+v -0.02687848 0.04842595 0.02717750
+v -0.03464864 -0.00033620 0.02717732
+v -0.04761038 -0.00445261 0.02159633
+v -0.04674474 0.00418848 0.02717734
+v -0.04763328 -0.02230172 -0.00488154
+v -0.04839816 -0.00445258 0.01276568
+v -0.04968517 -0.01336571 -0.02252868
+v -0.04820809 -0.02230169 -0.01371219
+v -0.04721191 -0.06742331 -0.11716516
+v -0.04871190 -0.02230166 -0.02252871
+v -0.03467155 0.04842648 -0.11716473
+v -0.03384942 0.04842646 -0.11130118
+v -0.03377613 0.04842646 -0.11077841
+v -0.02687848 -0.04908668 -0.06022508
+v -0.03229447 0.04842595 0.02717750
+v -0.02687848 0.04842627 -0.06090291
+v -0.04835923 0.00448334 0.02159637
+v -0.04677909 0.00797605 0.02717735
+v -0.04844167 0.01341929 0.02159640
+v -0.04881266 0.00448337 0.01276572
+v -0.05013632 -0.00445245 -0.02252865
+v -0.04988899 -0.01336567 -0.03135933
+v -0.04730122 -0.01583749 -0.11716497
+v -0.05026227 -0.00445241 -0.03135930
+v -0.05011112 -0.00445235 -0.04899233
+v -0.05018441 0.00448360 -0.04899229
+v -0.04714321 0.04842648 -0.11716473
+v -0.03413109 0.04842597 0.02159653
+v -0.04480048 0.02832007 0.02717742
+v -0.04677680 0.01335123 0.02717737
+v -0.04615619 0.02234387 0.02717740
+v -0.04778213 0.02234389 0.02159643
+v -0.04828366 0.02234392 0.01276578
+v -0.04885159 0.01341932 0.01276575
+v -0.05020273 0.00448350 -0.02252861
+v -0.04730351 -0.01336536 -0.11716496
+v -0.05027372 0.00448354 -0.03135926
+v -0.04990960 0.01341955 -0.04899226
+v -0.04717298 0.04020496 -0.11716476
+v -0.04720504 0.03128035 -0.11716480
+v -0.04722794 0.02234440 -0.11716483
+v -0.04724855 0.01341980 -0.11716486
+v -0.04728977 -0.00445210 -0.11716493
+v -0.04506155 0.04842629 -0.06593285
+v -0.04997601 0.01341949 -0.03135923
+v -0.04909663 0.02234409 -0.03135920
+v -0.04894548 0.02234405 -0.02252855
+v -0.04549436 0.02937471 0.02159646
+v -0.04457834 0.04842626 -0.05722936
+v -0.04463559 0.04842626 -0.05782278
+v -0.04988212 0.01341945 -0.02252858
+f 1 2 8
+f 1 8 13
+f 1 13 17
+f 1 17 33
+f 1 33 32
+f 1 32 45
+f 1 45 34
+f 1 34 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 19
+f 3 19 36
+f 3 36 50
+f 3 50 52
+f 3 52 37
+f 3 37 20
+f 3 20 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
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+f 5 12 7
+f 5 7 6
+f 7 13 8
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+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 14
+f 14 28 15
+f 14 27 29
+f 14 29 28
+f 15 28 16
+f 16 28 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 18 34 35
+f 18 35 36
+f 18 36 19
+f 20 37 51
+f 20 51 65
+f 20 65 67
+f 20 67 66
+f 20 66 54
+f 20 54 40
+f 20 40 29
+f 20 29 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 38
+f 20 38 23
+f 20 23 21
+f 21 23 22
+f 23 38 24
+f 28 29 39
+f 28 39 30
+f 29 40 39
+f 30 41 31
+f 30 39 42
+f 30 42 43
+f 30 43 44
+f 30 44 41
+f 31 41 32
+f 32 41 44
+f 32 44 46
+f 32 46 45
+f 34 45 59
+f 34 59 72
+f 34 72 79
+f 34 79 78
+f 34 78 77
+f 34 77 76
+f 34 76 75
+f 34 75 63
+f 34 63 47
+f 34 47 35
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 49 50
+f 37 52 49
+f 37 49 48
+f 37 48 47
+f 37 47 63
+f 37 63 80
+f 37 80 86
+f 37 86 85
+f 37 85 64
+f 37 64 51
+f 39 40 53
+f 39 53 42
+f 40 54 55
+f 40 55 53
+f 42 53 56
+f 42 56 57
+f 42 57 43
+f 43 46 44
+f 43 57 58
+f 43 58 45
+f 43 45 46
+f 45 58 60
+f 45 60 61
+f 45 61 62
+f 45 62 59
+f 49 52 50
+f 51 64 65
+f 53 55 56
+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 69
+f 55 69 70
+f 55 70 56
+f 56 70 71
+f 56 71 57
+f 57 71 60
+f 57 60 58
+f 59 62 72
+f 60 73 62
+f 60 62 61
+f 60 71 73
+f 62 73 74
+f 62 74 63
+f 62 63 75
+f 62 75 76
+f 62 76 77
+f 62 77 78
+f 62 78 79
+f 62 79 72
+f 63 74 81
+f 63 81 82
+f 63 82 83
+f 63 83 69
+f 63 69 80
+f 64 84 65
+f 64 85 84
+f 65 84 68
+f 65 68 67
+f 68 84 86
+f 68 86 69
+f 69 83 87
+f 69 87 70
+f 69 86 80
+f 70 87 71
+f 71 87 81
+f 71 81 73
+f 73 81 74
+f 81 87 82
+f 82 87 83
+f 84 85 86
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_87.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd0d3799fcb0d9085db349003b6019be6a51e6d
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_87.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03082332 0.19999025 -0.02234280
+v -0.02688068 0.20513266 -0.00825456
+v -0.02688068 0.21404704 0.01688949
+v -0.03129962 0.19999025 -0.02239334
+v -0.02688068 0.19999026 -0.02368212
+v -0.02688068 0.21435245 0.01725590
+v -0.03463587 0.21582474 0.00728675
+v -0.02842863 0.21320388 0.01277041
+v -0.03817940 0.19999028 -0.03054302
+v -0.03805150 0.19999028 -0.03036613
+v -0.03199201 0.19999025 -0.02311354
+v -0.02688068 0.19999039 -0.05866893
+v -0.02688068 0.21617971 0.01772340
+v -0.03534810 0.22177642 0.00877772
+v -0.03591701 0.21881365 0.00417851
+v -0.04762587 0.22665542 -0.04028464
+v -0.03553113 0.21369468 0.00139875
+v -0.04202943 0.19999032 -0.04018366
+v -0.03391041 0.19999058 -0.11077639
+v -0.03375164 0.22665568 -0.11077629
+v -0.03272629 0.22665565 -0.10304356
+v -0.02688068 0.20097450 -0.05860574
+v -0.02688068 0.21886058 0.01824146
+v -0.02716293 0.21883187 0.01805193
+v -0.03568107 0.22665524 0.00929578
+v -0.03699308 0.22665525 0.00483557
+v -0.04895772 0.22665545 -0.04891447
+v -0.04358841 0.19999034 -0.04725936
+v -0.04350682 0.19999034 -0.04677922
+v -0.03391923 0.19999058 -0.11083956
+v -0.03376046 0.22665568 -0.11083946
+v -0.02688068 0.22665548 -0.05683673
+v -0.02688068 0.22589557 0.01817831
+v -0.02711001 0.22588775 0.01805196
+v -0.02807582 0.22665521 0.01694006
+v -0.04896654 0.22665545 -0.04899028
+v -0.04408234 0.19999036 -0.05118890
+v -0.04543845 0.19999058 -0.11083956
+v -0.04918264 0.22665568 -0.11083946
+v -0.02688068 0.22665521 0.01718013
+v -0.04927966 0.22665548 -0.05782227
+v -0.04503272 0.19999041 -0.06664172
+v -0.04464022 0.19999038 -0.05782237
+v -0.04940535 0.22665551 -0.06664162
+v -0.04928187 0.22665548 -0.05792335
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 18
+f 1 18 29
+f 1 29 28
+f 1 28 37
+f 1 37 43
+f 1 43 42
+f 1 42 38
+f 1 38 30
+f 1 30 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 12
+f 2 12 22
+f 2 22 32
+f 2 32 40
+f 2 40 33
+f 2 33 23
+f 2 23 13
+f 2 13 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 9
+f 7 9 8
+f 9 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 16
+f 14 16 15
+f 16 27 28
+f 16 28 29
+f 16 29 18
+f 16 18 17
+f 16 26 25
+f 16 25 35
+f 16 35 40
+f 16 40 32
+f 16 32 21
+f 16 21 20
+f 16 20 31
+f 16 31 39
+f 16 39 44
+f 16 44 45
+f 16 45 41
+f 16 41 36
+f 16 36 27
+f 19 30 31
+f 19 31 20
+f 21 32 22
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 27 36 37
+f 27 37 28
+f 30 38 39
+f 30 39 31
+f 33 40 35
+f 33 35 34
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 38 42 44
+f 38 44 39
+f 41 45 42
+f 42 45 44
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_88.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0915722e204de07234bda2d9bc057d2eca18f82c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_88.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02688201 0.22665521 0.01718289
+v -0.02688201 0.24209425 0.02717821
+v -0.06300613 0.24539082 0.02717822
+v -0.02705885 0.22665521 0.01714960
+v -0.02688201 0.22665548 -0.05683701
+v -0.02688201 0.27106314 0.02717832
+v -0.02807743 0.22665521 0.01694154
+v -0.06300613 0.27150922 0.02717832
+v -0.06300613 0.24468601 0.02434859
+v -0.03568139 0.22665524 0.00929320
+v -0.02714019 0.22665548 -0.05784403
+v -0.02688201 0.23265982 -0.05784401
+v -0.03071582 0.27119250 0.02717832
+v -0.02688201 0.27205800 0.00395036
+v -0.03947276 0.27131294 0.02717832
+v -0.06300613 0.27175014 0.01884755
+v -0.06300613 0.23178987 -0.03449952
+v -0.03699351 0.22665525 0.00484069
+v -0.06300613 0.23096908 -0.04017544
+v -0.04928010 0.22665548 -0.05784403
+v -0.02688201 0.23802178 -0.05784399
+v -0.02688201 0.27213384 0.00008042
+v -0.06300613 0.27191522 0.01277216
+v -0.04762491 0.22665542 -0.04028365
+v -0.06300613 0.23044274 -0.04899724
+v -0.04928010 0.22665548 -0.05781906
+v -0.06300613 0.23023310 -0.05784401
+v -0.02761411 0.24472646 -0.05784396
+v -0.02688201 0.24343727 -0.05614619
+v -0.02688201 0.27215615 -0.00487977
+v -0.06300613 0.27216516 -0.02252337
+v -0.04895472 0.22665545 -0.04891404
+v -0.06300613 0.23023310 -0.05781904
+v -0.04896533 0.22665545 -0.04899726
+v -0.06300613 0.25212259 -0.05784393
+v -0.02765656 0.24511009 -0.05784396
+v -0.02767070 0.24519932 -0.05784396
+v -0.02688201 0.27000170 -0.03852745
+v -0.02688201 0.27222760 -0.02252337
+v -0.06300613 0.27219640 -0.03134517
+v -0.03947276 0.25276495 -0.05784393
+v -0.06300613 0.26595123 -0.04388713
+v -0.03225784 0.25150699 -0.05784394
+v -0.03947276 0.27003290 -0.03940131
+v -0.02688201 0.27216520 -0.03134517
+v -0.06300613 0.27009539 -0.03947621
+v -0.05697955 0.27007752 -0.03945957
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+f 1 32 34
+f 1 34 26
+f 1 26 20
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+f 1 21 29
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+f 3 23 31
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+f 44 47 46
+f 44 46 45
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_89.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86944ee6d996defc30885f41f2539a780140168c
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_89.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00168713 -0.19690465 0.12045559
+v -0.00168713 -0.24394112 0.11934534
+v -0.00168713 -0.19690474 0.14414775
+v 0.10363724 -0.19690464 0.11816805
+v 0.09186235 -0.23436708 0.10807813
+v 0.08294355 -0.23651767 0.10807812
+v 0.08259298 -0.23660515 0.10807812
+v 0.07859241 -0.23997608 0.10807811
+v 0.07441655 -0.24392265 0.10807809
+v -0.00168713 -0.24394121 0.14323176
+v 0.07441655 -0.24394108 0.10807809
+v -0.00168713 -0.23664674 0.14439736
+v 0.04809320 -0.19690476 0.14848893
+v 0.10363724 -0.19690474 0.14441337
+v 0.10363724 -0.23459272 0.10807813
+v -0.00168713 -0.24277612 0.14341810
+v 0.04809320 -0.24394122 0.14754123
+v 0.10290517 -0.24394108 0.10807809
+v 0.04809320 -0.23664676 0.14857997
+v 0.05683672 -0.23664676 0.14844517
+v 0.08310852 -0.19690475 0.14773567
+v 0.10363724 -0.21879277 0.14466702
+v 0.09186235 -0.19690475 0.14687932
+v 0.10363724 -0.24394108 0.10808205
+v 0.04970168 -0.24394122 0.14751743
+v 0.06560086 -0.23664675 0.14823902
+v 0.08310852 -0.20092960 0.14773565
+v 0.09186235 -0.20985889 0.14690703
+v 0.09186235 -0.20092960 0.14689120
+v 0.10363724 -0.23664674 0.14475417
+v 0.10363724 -0.24394121 0.14433390
+v 0.05844520 -0.24394122 0.14722802
+v 0.07435469 -0.23664675 0.14790996
+v 0.08310852 -0.20985889 0.14771580
+v 0.09186235 -0.21879278 0.14689906
+v 0.10363724 -0.24250902 0.14442113
+v 0.09186235 -0.23664675 0.14640739
+v 0.10117296 -0.24394121 0.14465900
+v 0.06719903 -0.24394122 0.14680382
+v 0.07435469 -0.24394122 0.14643511
+v 0.08310852 -0.24394122 0.14597919
+v 0.08310852 -0.23664675 0.14739456
+v 0.08310852 -0.21879278 0.14766819
+v 0.10062649 -0.24394121 0.14473036
+v 0.09186235 -0.24394121 0.14542812
+f 1 2 10
+f 1 10 16
+f 1 16 12
+f 1 12 3
+f 1 3 13
+f 1 13 21
+f 1 21 23
+f 1 23 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 18
+f 2 18 24
+f 2 24 31
+f 2 31 38
+f 2 38 44
+f 2 44 45
+f 2 45 41
+f 2 41 40
+f 2 40 39
+f 2 39 32
+f 2 32 25
+f 2 25 17
+f 2 17 10
+f 3 12 13
+f 4 14 22
+f 4 22 30
+f 4 30 36
+f 4 36 31
+f 4 31 24
+f 4 24 15
+f 4 15 5
+f 5 15 18
+f 5 18 11
+f 5 11 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 10 17 16
+f 12 16 17
+f 12 17 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 14 23 22
+f 15 24 18
+f 17 25 19
+f 19 25 20
+f 20 26 21
+f 20 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 23
+f 22 23 30
+f 23 29 30
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 28
+f 28 35 30
+f 28 30 29
+f 30 35 37
+f 30 37 36
+f 31 36 37
+f 31 37 38
+f 32 39 33
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 34 43 35
+f 35 43 42
+f 35 42 37
+f 37 44 38
+f 37 42 44
+f 41 45 42
+f 42 45 44
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_9.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37855442faeafbb53e96ec4de5c720618b76ce8
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_9.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.10599515 0.22508178 0.11459992
+v -0.09200467 0.22803619 0.11459993
+v -0.10599515 0.25590787 0.11460003
+v -0.10599515 0.22844554 0.00038910
+v -0.08459077 0.22968110 0.11459993
+v -0.10599515 0.25617907 0.08337235
+v -0.08993870 0.26928776 0.11460008
+v -0.09004390 0.26933371 0.10984829
+v -0.09021642 0.26943946 0.09219397
+v -0.09030478 0.26949005 0.08337240
+v -0.09076341 0.26971533 0.03925336
+v -0.10599515 0.24292816 0.00038915
+v -0.06300966 0.23975780 0.00038914
+v -0.06300966 0.24533079 0.11459999
+v -0.10599515 0.25610098 0.07939202
+v -0.09514359 0.26566738 0.03925335
+v -0.08679979 0.27004588 0.11460008
+v -0.08325273 0.27090050 0.11460009
+v -0.08325273 0.27096945 0.10984830
+v -0.08325273 0.27107057 0.10102672
+v -0.08325273 0.27115789 0.09219398
+v -0.08325273 0.27122685 0.08337241
+v -0.09039314 0.26953602 0.07455083
+v -0.08325273 0.27159461 0.03043180
+v -0.09043942 0.26970619 0.03043179
+v -0.10597411 0.25350985 0.00038919
+v -0.10599515 0.25350985 0.00040037
+v -0.06300966 0.27183827 0.00038926
+v -0.06300966 0.27110728 0.11460009
+v -0.07449658 0.27115321 0.11460009
+v -0.07449658 0.27128652 0.10102672
+v -0.07449658 0.27201280 0.01277747
+v -0.07449658 0.27198987 0.00395590
+v -0.07449658 0.27195312 0.00038926
+v -0.08325273 0.27106634 0.00038926
+v -0.08873532 0.26904007 0.00038925
+v -0.06300966 0.27187959 0.00395590
+v -0.06300966 0.27191631 0.01277747
+v -0.06574044 0.27193927 0.01277747
+v -0.06300966 0.27190715 0.01002702
+f 1 2 5
+f 1 5 14
+f 1 14 29
+f 1 29 30
+f 1 30 18
+f 1 18 17
+f 1 17 7
+f 1 7 3
+f 1 3 6
+f 1 6 15
+f 1 15 27
+f 1 27 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 6
+f 4 12 26
+f 4 26 36
+f 4 36 35
+f 4 35 34
+f 4 34 28
+f 4 28 13
+f 4 13 5
+f 5 13 14
+f 6 11 16
+f 6 16 15
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 11 24 25
+f 11 25 16
+f 11 23 22
+f 11 22 24
+f 12 27 26
+f 13 28 37
+f 13 37 40
+f 13 40 38
+f 13 38 29
+f 13 29 14
+f 15 16 27
+f 16 25 27
+f 18 30 19
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 27
+f 26 27 36
+f 28 34 37
+f 29 31 30
+f 29 38 39
+f 29 39 32
+f 29 32 31
+f 32 39 33
+f 33 39 38
+f 33 38 40
+f 33 40 37
+f 33 37 34
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_90.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682b98519f8a2c35bf7024c4216c068d2637096d
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_90.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.06301302 -0.22319301 0.14874264
+v -0.06435873 -0.22319301 0.14869343
+v -0.06301302 -0.22319290 0.11968977
+v -0.06301302 -0.17413397 0.14732576
+v -0.08324898 -0.17413397 0.14699118
+v -0.09200447 -0.17413397 0.14674515
+v -0.06574135 -0.22319301 0.14864095
+v -0.07481565 -0.22319289 0.11782005
+v -0.06301302 -0.21878837 0.11985380
+v -0.06301302 -0.16520309 0.14571848
+v -0.09200447 -0.16096303 0.14463275
+v -0.09728998 -0.16096303 0.14424569
+v -0.09728998 -0.16520308 0.14485251
+v -0.09728998 -0.17413397 0.14585622
+v -0.09200447 -0.18306488 0.14685666
+v -0.08324898 -0.22319300 0.14791274
+v -0.08324898 -0.21878847 0.14785371
+v -0.07449684 -0.22319300 0.14828668
+v -0.08324898 -0.22319289 0.11677366
+v -0.06301302 -0.16096296 0.12587976
+v -0.06301302 -0.16096303 0.14484596
+v -0.08324898 -0.16096303 0.14471476
+v -0.09728998 -0.16096295 0.12384931
+v -0.09728998 -0.21878847 0.14622017
+v -0.09200447 -0.21878847 0.14725015
+v -0.09200447 -0.22319300 0.14717468
+v -0.09487711 -0.22319288 0.11544845
+v -0.09728998 -0.22319288 0.11523524
+v -0.09728998 -0.22319300 0.14617751
+v -0.09632349 -0.22319300 0.14636448
+f 1 2 7
+f 1 7 18
+f 1 18 16
+f 1 16 26
+f 1 26 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 8 19 20
+f 8 20 9
+f 10 21 22
+f 10 22 11
+f 11 22 21
+f 11 21 20
+f 11 20 23
+f 11 23 12
+f 12 23 28
+f 12 28 29
+f 12 29 24
+f 12 24 14
+f 12 14 13
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 18 17
+f 16 25 26
+f 19 27 20
+f 20 27 28
+f 20 28 23
+f 24 29 25
+f 25 29 30
+f 25 30 26
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_91.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9687b5176f73fafe61a3603e754004d6cd9e6175
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_91.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03383614 -0.22878319 -0.11083245
+v -0.05263483 -0.22878319 -0.11083245
+v -0.03477593 -0.22878317 -0.11718392
+v -0.03477022 -0.22771594 -0.11723473
+v -0.03382758 -0.22771596 -0.11083245
+v -0.04545928 -0.19832837 -0.11083234
+v -0.06300681 -0.19832828 -0.13570275
+v -0.06161569 -0.22878315 -0.12366047
+v -0.03557005 -0.22878315 -0.12159673
+v -0.03477593 -0.21878459 -0.11722687
+v -0.03556719 -0.22771592 -0.12164754
+v -0.03483021 -0.19832835 -0.11703137
+v -0.03457884 -0.19832836 -0.11522170
+v -0.03397611 -0.19832837 -0.11083234
+v -0.06300681 -0.19832823 -0.15075868
+v -0.06300681 -0.22878314 -0.12590792
+v -0.03688689 -0.22878313 -0.12843287
+v -0.03686975 -0.22771590 -0.12843287
+v -0.03561289 -0.19832833 -0.12144419
+v -0.03505587 -0.19832835 -0.11831731
+v -0.03691546 -0.19832831 -0.12843276
+v -0.05985894 -0.19832823 -0.15070004
+v -0.05631115 -0.22878305 -0.15064934
+v -0.06216414 -0.22878305 -0.15074705
+v -0.06300681 -0.22878305 -0.15075879
+v -0.03716683 -0.22878312 -0.12948428
+v -0.03923495 -0.22771587 -0.13725457
+v -0.03930636 -0.19832828 -0.13725446
+v -0.05904483 -0.19832823 -0.15068442
+v -0.05710527 -0.19832823 -0.15064533
+v -0.05545135 -0.22878305 -0.15062199
+v -0.03925208 -0.22878310 -0.13725457
+v -0.03960343 -0.22878309 -0.13803239
+v -0.04231141 -0.22878307 -0.14377413
+v -0.04231141 -0.22771584 -0.14377021
+v -0.04238282 -0.19832825 -0.14364111
+v -0.05296047 -0.19832823 -0.15047335
+v -0.05251485 -0.22878305 -0.15052427
+v -0.04884424 -0.22878305 -0.14855825
+v -0.04822724 -0.20092776 -0.14802267
+v -0.04846718 -0.19832824 -0.14817118
+v -0.05002398 -0.19832823 -0.14899198
+v -0.05158649 -0.22878305 -0.15003570
+v -0.04966977 -0.22878305 -0.14900382
+f 1 2 8
+f 1 8 16
+f 1 16 25
+f 1 25 24
+f 1 24 23
+f 1 23 31
+f 1 31 38
+f 1 38 43
+f 1 43 44
+f 1 44 39
+f 1 39 34
+f 1 34 33
+f 1 33 32
+f 1 32 26
+f 1 26 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 10
+f 5 10 12
+f 5 12 13
+f 5 13 14
+f 6 14 13
+f 6 13 12
+f 6 12 20
+f 6 20 19
+f 6 19 21
+f 6 21 28
+f 6 28 36
+f 6 36 41
+f 6 41 42
+f 6 42 37
+f 6 37 30
+f 6 30 29
+f 6 29 22
+f 6 22 15
+f 6 15 7
+f 7 15 25
+f 7 25 16
+f 7 16 8
+f 9 17 18
+f 9 18 11
+f 10 11 19
+f 10 19 20
+f 10 20 12
+f 11 18 21
+f 11 21 19
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 17 26 18
+f 18 26 27
+f 18 27 21
+f 21 27 28
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 35 36
+f 30 37 38
+f 30 38 31
+f 34 39 40
+f 34 40 35
+f 35 40 36
+f 36 40 41
+f 37 42 38
+f 38 42 43
+f 39 44 41
+f 39 41 40
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_92.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fa0d68bb40190e01caa6759e22abd03e550fd8
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_92.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02890651 0.02053403 0.03041948
+v 0.02890518 0.02053403 0.03041948
+v 0.02890651 0.02053403 0.03011042
+v 0.02890651 0.02085162 0.03942804
+v 0.01533276 0.02389970 0.03041949
+v 0.01533276 0.02379385 0.02388342
+v 0.01533276 0.02378272 0.02159408
+v 0.01533276 0.02376602 0.01505801
+v 0.01533276 0.02374377 0.00623260
+v 0.02890651 0.02055078 0.02152539
+v 0.02890651 0.02314738 0.04665092
+v 0.01533276 0.02540420 0.03837495
+v 0.01533276 0.02434548 0.03306368
+v 0.01533276 0.02374935 0.00394325
+v 0.02890651 0.02073492 -0.04899778
+v 0.02890651 0.02342043 0.04697143
+v 0.01533276 0.02705917 0.03902742
+v 0.01533276 0.02401144 -0.04899777
+v 0.01533276 0.02493646 -0.05349633
+v 0.02890651 0.02081851 -0.04937552
+v 0.02890651 0.02890915 0.04645635
+v 0.01533276 0.06727451 0.03812329
+v 0.01533276 0.03124396 0.04033236
+v 0.01533276 0.02531538 -0.05515610
+v 0.02890651 0.02274098 -0.05757136
+v 0.02182329 0.06700145 0.03949689
+v 0.02890651 0.07422875 0.03899326
+v 0.02890651 0.07745511 0.03839804
+v 0.02328379 0.07745511 0.03701298
+v 0.01533276 0.06973747 0.03735636
+v 0.01533276 0.02967293 -0.05734240
+v 0.02890651 0.03128335 -0.06269946
+v 0.02890651 0.07745551 -0.06996794
+v 0.02228044 0.07745512 0.03658946
+v 0.01533276 0.07244562 0.03608579
+v 0.01533276 0.03128333 -0.05814367
+v 0.02890651 0.05858767 -0.06861730
+v 0.02890651 0.07070745 -0.06971614
+v 0.01533276 0.04021575 -0.05958591
+v 0.01533276 0.04914258 -0.05979192
+v 0.01533276 0.05824216 -0.05949428
+v 0.01533276 0.06561988 -0.05666691
+v 0.02409178 0.07745546 -0.05848690
+v 0.01565304 0.07310315 0.03589119
+v 0.01845709 0.07745513 0.03154145
+v 0.01533276 0.07338734 0.03434589
+v 0.01533276 0.03790324 -0.05925397
+v 0.02890651 0.06709660 -0.06956734
+v 0.01533276 0.06790450 -0.05135563
+v 0.02166913 0.07745544 -0.05049710
+v 0.01800525 0.07745514 0.03041968
+v 0.01533276 0.07489188 0.03041968
+v 0.01533276 0.06881279 -0.04899761
+v 0.02132892 0.07745543 -0.04899758
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 32
+f 1 32 37
+f 1 37 48
+f 1 48 38
+f 1 38 33
+f 1 33 28
+f 1 28 27
+f 1 27 21
+f 1 21 16
+f 1 16 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 4 5
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 12
+f 5 12 17
+f 5 17 23
+f 5 23 22
+f 5 22 30
+f 5 30 35
+f 5 35 46
+f 5 46 52
+f 5 52 53
+f 5 53 49
+f 5 49 42
+f 5 42 41
+f 5 41 40
+f 5 40 39
+f 5 39 47
+f 5 47 36
+f 5 36 31
+f 5 31 24
+f 5 24 19
+f 5 19 18
+f 5 18 14
+f 5 14 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 24 20
+f 20 24 25
+f 21 26 22
+f 21 27 26
+f 22 26 28
+f 22 28 29
+f 22 29 30
+f 24 31 32
+f 24 32 25
+f 26 27 28
+f 28 33 43
+f 28 43 50
+f 28 50 54
+f 28 54 51
+f 28 51 45
+f 28 45 34
+f 28 34 29
+f 29 34 35
+f 29 35 30
+f 31 36 32
+f 32 36 37
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 34 44 35
+f 34 45 44
+f 35 44 46
+f 36 47 37
+f 37 47 39
+f 37 39 48
+f 38 48 39
+f 42 49 50
+f 42 50 43
+f 44 45 51
+f 44 51 52
+f 44 52 46
+f 49 53 50
+f 50 53 54
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_93.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ecf1ebc6e436ee8d33aa994e24f3dc91c9334d7
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_93.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01542087 0.19781668 -0.05024983
+v 0.01542087 0.19203681 -0.05022234
+v -0.00169576 0.20097081 -0.04927711
+v 0.01542087 0.20097081 -0.05021731
+v 0.01542087 0.18886643 -0.05019736
+v -0.00169576 0.19816624 -0.04924461
+v -0.00169576 0.20699456 -0.04917457
+v 0.01542087 0.20687262 -0.05006226
+v -0.00169576 0.19203681 -0.04916712
+v 0.01542087 0.17989991 -0.04999234
+v 0.01542087 0.20699456 -0.05005725
+v -0.00169576 0.20699448 -0.02763752
+v 0.01542087 0.17086836 -0.04975982
+v 0.01542087 0.16184495 -0.04942979
+v -0.00169576 0.18310282 -0.04877708
+v 0.01542087 0.20699447 -0.02470441
+v -0.00169576 0.14739114 -0.02749772
+v 0.01542087 0.15205738 -0.04899223
+v -0.00169576 0.18030636 -0.04853453
+v 0.01542087 0.12812500 -0.04770705
+v -0.00169576 0.13845714 -0.02767778
+v -0.00169576 0.12395463 -0.02798290
+v 0.00421144 0.12395463 -0.02792789
+v 0.01306469 0.12395463 -0.02789288
+v 0.01542087 0.12395463 -0.02792289
+v -0.00169576 0.17417695 -0.04796943
+v 0.01542087 0.12395470 -0.04728447
+v -0.00169576 0.12395468 -0.04137822
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 16
+f 1 16 25
+f 1 25 27
+f 1 27 20
+f 1 20 18
+f 1 18 14
+f 1 14 13
+f 1 13 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 9
+f 3 9 15
+f 3 15 19
+f 3 19 26
+f 3 26 28
+f 3 28 22
+f 3 22 21
+f 3 21 17
+f 3 17 12
+f 3 12 7
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 5 10 9
+f 7 11 8
+f 7 12 16
+f 7 16 11
+f 9 10 13
+f 9 13 14
+f 9 14 15
+f 12 17 16
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 17 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 19 20 26
+f 20 27 26
+f 22 28 27
+f 22 27 25
+f 22 25 24
+f 22 24 23
+f 26 27 28
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_94.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abc5915c5f58520b3c12e89c600a01e1115e820
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_94.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01542087 0.10293940 -0.03134769
+v -0.00169576 0.10694249 -0.02862658
+v -0.00169576 0.10697541 -0.03161931
+v 0.01542087 0.10338788 -0.03970501
+v 0.01542087 0.10499231 -0.01370176
+v 0.00080956 0.10734561 -0.01091275
+v -0.00169576 0.10760687 -0.01240183
+v -0.00169576 0.10720575 -0.01717468
+v -0.00169576 0.10712554 -0.01828058
+v -0.00169576 0.10701856 -0.01990548
+v -0.00169576 0.10695686 -0.02246167
+v -0.00169576 0.10730044 -0.03465569
+v 0.01542087 0.10559309 -0.04254251
+v -0.00169576 0.10731073 -0.03473815
+v 0.01542087 0.10625534 -0.00754654
+v 0.00664637 0.10708641 -0.00826441
+v 0.00396174 0.10816431 -0.00514556
+v -0.00169576 0.10962691 -0.00496610
+v -0.00169576 0.11083865 -0.03769205
+v 0.01542087 0.11166358 -0.04538970
+v 0.01542087 0.11128286 -0.00492728
+v 0.01019907 0.11388506 0.00078655
+v 0.00431031 0.11275982 0.00226593
+v -0.00169576 0.11374311 0.00168389
+v -0.00169576 0.12059133 -0.04102427
+v 0.01542087 0.12041650 -0.04693212
+v 0.01542087 0.11705300 -0.00620293
+v 0.01019907 0.11674648 0.00078656
+v 0.00431031 0.11713526 0.00226595
+v -0.00169576 0.11686783 0.00168390
+v -0.00169576 0.12395467 -0.04137833
+v 0.01542087 0.12395469 -0.04728618
+v 0.01542087 0.12395462 -0.02791835
+v 0.01306469 0.12395462 -0.02788924
+v 0.00421144 0.12395462 -0.02792320
+v -0.00169576 0.12395462 -0.02798140
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 20
+f 1 20 26
+f 1 26 32
+f 1 32 33
+f 1 33 27
+f 1 27 21
+f 1 21 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 18
+f 2 18 24
+f 2 24 30
+f 2 30 36
+f 2 36 31
+f 2 31 25
+f 2 25 19
+f 2 19 14
+f 2 14 12
+f 2 12 3
+f 3 12 4
+f 4 12 14
+f 4 14 13
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 13 14 19
+f 13 19 20
+f 15 21 22
+f 15 22 23
+f 15 23 17
+f 15 17 16
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 25 26
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 25 31 26
+f 26 31 32
+f 27 33 28
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 31 36 35
+f 31 35 34
+f 31 34 33
+f 31 33 32
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_95.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d83557139d34c3e698deefd61a02264fff304dd
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_95.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.03459873 0.11887045 -0.00007082
+v -0.03564562 0.11887045 -0.00007082
+v -0.03383646 0.11887045 -0.00081708
+v -0.03443951 0.12059439 0.00005547
+v -0.03582474 0.12059439 0.00005547
+v -0.03827676 0.11887047 -0.00474354
+v -0.03436786 0.12587692 0.00011290
+v -0.03188401 0.11887047 -0.00480095
+v -0.03591032 0.12587692 0.00011290
+v -0.03851161 0.12059441 -0.00488131
+v -0.04076260 0.11887050 -0.01371012
+v -0.03439373 0.14416018 -0.00879621
+v -0.02688046 0.17272387 -0.02895656
+v -0.03104610 0.11887048 -0.00707417
+v -0.03579090 0.14416018 -0.00879621
+v -0.03777919 0.14723377 -0.01335412
+v -0.04074270 0.12059444 -0.01371012
+v -0.04101736 0.14738143 -0.02252735
+v -0.04394903 0.17272395 -0.05290571
+v -0.04434111 0.17272397 -0.05701587
+v -0.04441873 0.17272397 -0.05783102
+v -0.04444460 0.16524303 -0.05783104
+v -0.04445256 0.15631228 -0.05783108
+v -0.04440480 0.14738156 -0.05783111
+v -0.04389529 0.12952533 -0.05314696
+v -0.04386145 0.12390539 -0.05334216
+v -0.04411422 0.11887066 -0.05734901
+v -0.03352996 0.15458820 -0.01606358
+v -0.03695919 0.15458820 -0.01606358
+v -0.02688046 0.16889641 -0.02824476
+v -0.02688046 0.17272389 -0.03428370
+v -0.02741187 0.17272387 -0.02900249
+v -0.02688046 0.11887053 -0.02238968
+v -0.02688046 0.13800785 -0.02418063
+v -0.03846384 0.15706605 -0.02180402
+v -0.04079843 0.17272391 -0.04018488
+v -0.04276481 0.17272393 -0.04715378
+v -0.04487649 0.17272400 -0.06521323
+v -0.04496207 0.17272400 -0.06664835
+v -0.04496605 0.16524306 -0.06664837
+v -0.04495212 0.15631231 -0.06664841
+v -0.04478096 0.11887069 -0.06664854
+v -0.04432718 0.13845608 -0.05783114
+v -0.03060426 0.17272387 -0.02931247
+v -0.03198949 0.17272387 -0.02984059
+v -0.03732142 0.17272388 -0.03302080
+v -0.04028096 0.17272390 -0.03865792
+v -0.02688046 0.16524304 -0.06024203
+v -0.02689639 0.17272398 -0.05997794
+v -0.02688046 0.11887067 -0.06101141
+v -0.04719118 0.17272419 -0.11715280
+v -0.04719914 0.16524325 -0.11715282
+v -0.04720511 0.15631250 -0.11715286
+v -0.04721108 0.14491975 -0.11715290
+v -0.04720312 0.13598902 -0.11715293
+v -0.04717525 0.12705828 -0.11715296
+v -0.04714540 0.11887088 -0.11715299
+v -0.02688046 0.16445752 -0.06033388
+v -0.03378073 0.17272417 -0.11076942
+v -0.02688046 0.12059461 -0.06104585
+v -0.03380064 0.11887086 -0.11076961
+v -0.03467038 0.17272419 -0.11715280
+v -0.03470820 0.11887088 -0.11715299
+v -0.02688046 0.15631229 -0.06067834
+v -0.02688046 0.15572710 -0.06070130
+v -0.02688046 0.14695453 -0.06090799
+v -0.03392403 0.17272417 -0.11181419
+v -0.02688046 0.12923012 -0.06106879
+v -0.03466839 0.16524325 -0.11715282
+v -0.03398175 0.11887086 -0.11204399
+v -0.03467437 0.15676589 -0.11715285
+v -0.03393199 0.17272417 -0.11187159
+v -0.03466839 0.16570719 -0.11715282
+v -0.02688046 0.13845609 -0.06102282
+v -0.02688046 0.12952535 -0.06106878
+f 1 2 6
+f 1 6 11
+f 1 11 27
+f 1 27 42
+f 1 42 57
+f 1 57 63
+f 1 63 70
+f 1 70 61
+f 1 61 50
+f 1 50 33
+f 1 33 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 15
+f 7 15 9
+f 7 8 13
+f 7 13 12
+f 8 14 13
+f 9 15 16
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 17
+f 11 17 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 12 28 29
+f 12 29 15
+f 12 13 28
+f 13 29 28
+f 13 14 30
+f 13 30 34
+f 13 34 33
+f 13 33 50
+f 13 50 60
+f 13 60 68
+f 13 68 75
+f 13 75 74
+f 13 74 66
+f 13 66 65
+f 13 65 64
+f 13 64 58
+f 13 58 48
+f 13 48 31
+f 13 31 49
+f 13 49 59
+f 13 59 67
+f 13 67 72
+f 13 72 62
+f 13 62 51
+f 13 51 39
+f 13 39 38
+f 13 38 21
+f 13 21 20
+f 13 20 19
+f 13 19 37
+f 13 37 36
+f 13 36 47
+f 13 47 46
+f 13 46 45
+f 13 45 44
+f 13 44 32
+f 13 32 29
+f 14 33 34
+f 14 34 30
+f 15 29 16
+f 16 29 35
+f 16 35 18
+f 17 18 19
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 21 38 22
+f 22 38 39
+f 22 39 23
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 43 26
+f 24 26 25
+f 24 42 43
+f 26 43 27
+f 27 43 42
+f 29 32 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 35
+f 31 48 49
+f 35 47 36
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 57
+f 41 57 42
+f 48 58 49
+f 49 58 59
+f 50 61 60
+f 51 62 73
+f 51 73 69
+f 51 69 71
+f 51 71 63
+f 51 63 57
+f 51 57 56
+f 51 56 55
+f 51 55 54
+f 51 54 53
+f 51 53 52
+f 58 64 59
+f 59 64 65
+f 59 65 66
+f 59 66 67
+f 60 61 69
+f 60 69 68
+f 61 70 71
+f 61 71 69
+f 62 72 73
+f 63 71 70
+f 66 74 67
+f 67 74 75
+f 67 75 72
+f 68 69 72
+f 68 72 75
+f 69 73 72
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_96.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2653ced0f34794cce25d4f1fcd6cb3564421ffbb
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_96.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00169744 -0.04201037 -0.05843722
+v -0.00169744 -0.04016606 -0.05842230
+v 0.02660251 -0.04201036 -0.06124932
+v -0.00169744 -0.04201044 -0.03850640
+v -0.00169744 -0.03403898 -0.05716169
+v 0.02660251 -0.03123563 -0.05975745
+v 0.02660251 -0.04016605 -0.06112251
+v 0.02660251 -0.04201063 0.01495325
+v 0.02003446 -0.04201063 0.01495325
+v 0.00796765 -0.03613278 0.01495327
+v -0.00169744 -0.03590337 -0.01735226
+v -0.00169744 -0.03123564 -0.05657985
+v 0.02660251 -0.02382452 -0.05648286
+v 0.02660251 -0.02210808 0.01495332
+v 0.00698701 -0.03314201 0.01495328
+v -0.00169744 -0.03442195 -0.01563666
+v -0.00169744 -0.02763477 -0.05498359
+v -0.00169744 -0.02595395 -0.05423021
+v -0.00169744 -0.02425522 -0.04900135
+v 0.02660251 -0.02307086 -0.05400642
+v 0.00730835 -0.02588841 0.01495330
+v 0.02660251 -0.02204627 0.01277525
+v -0.00169744 -0.02355142 -0.04016973
+v -0.00169744 -0.02419151 -0.02529621
+v -0.00169744 -0.02431912 -0.02252887
+v 0.00667952 -0.03123590 0.01495329
+v -0.00169744 -0.03140727 -0.01335416
+v -0.00169744 -0.02376874 -0.04294453
+v 0.02660251 -0.02184865 -0.04900134
+v -0.00169744 -0.02555334 -0.01404037
+v 0.02660251 -0.02164332 -0.04016972
+v 0.02660251 -0.02173701 -0.04559251
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 16
+f 1 16 27
+f 1 27 30
+f 1 30 25
+f 1 25 24
+f 1 24 23
+f 1 23 28
+f 1 28 19
+f 1 19 18
+f 1 18 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 13
+f 3 13 20
+f 3 20 29
+f 3 29 32
+f 3 32 31
+f 3 31 22
+f 3 22 14
+f 3 14 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 8 14 21
+f 8 21 26
+f 8 26 15
+f 8 15 10
+f 8 10 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 15 26 27
+f 15 27 16
+f 19 28 29
+f 19 29 20
+f 21 30 26
+f 21 25 30
+f 22 31 23
+f 23 31 32
+f 23 32 29
+f 23 29 28
+f 26 30 27
+
diff --git a/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_97.obj b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0fc2f67afaf5cb2db68019a13ca36e26c9f2b15
--- /dev/null
+++ b/dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/mjcf/mesh/toolbox_39_collision_97.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03012911 0.20699010 -0.07554345
+v 0.01542254 0.20686319 -0.05006265
+v 0.01542254 0.20699000 -0.05005675
+v 0.04517204 0.20699010 -0.07554345
+v 0.02996824 0.18317552 -0.07554354
+v 0.01542254 0.20096662 -0.05021617
+v 0.01542254 0.20698991 -0.02470583
+v 0.04521884 0.20699008 -0.06951567
+v 0.04529196 0.19203937 -0.06664647
+v 0.04522469 0.18309944 -0.07547269
+v 0.04522176 0.18309944 -0.07554354
+v 0.01542254 0.19782178 -0.05024570
+v 0.02996824 0.17417215 -0.07554357
+v 0.02132213 0.20698989 -0.01962857
+v 0.01542254 0.11889624 -0.01523646
+v 0.04523932 0.20699006 -0.06664642
+v 0.04530074 0.18309940 -0.06664651
+v 0.04499362 0.09380089 -0.01523656
+v 0.04522176 0.18303604 -0.07554354
+v 0.04521299 0.11160498 -0.07554380
+v 0.01542254 0.19203931 -0.05022210
+v 0.03002089 0.12059569 -0.07554377
+v 0.03057662 0.20698988 -0.01531879
+v 0.02931598 0.16707066 -0.01523629
+v 0.01542254 0.10484589 -0.01523651
+v 0.04514572 0.20699004 -0.06068949
+v 0.04474793 0.15630464 -0.01523633
+v 0.04527734 0.11166835 -0.06664677
+v 0.04521007 0.10266501 -0.07554383
+v 0.04487955 0.08487360 -0.01523659
+v 0.04525102 0.07745550 -0.06664690
+v 0.04527149 0.10274105 -0.06664680
+v 0.01542254 0.18886911 -0.05019261
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