diff --git a/.gitattributes b/.gitattributes
index c51f5d154c9b9fc669442ae8a295af69ba4381aa..61bbc6f9fd572d9cda72cca8a36a4cc9d876ae08 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5074,5 +5074,5 @@ dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/screwdriver_024.usd
 dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/2a51ed2ffa3d5d0dba310f559f45ab9b/mesh/screwdriver_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/2a51ed2ffa3d5d0dba310f559f45ab9b/screwdriver_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/2a4611fa6ea056268baf80960fae71ce/mesh/mini_hammer_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/2a4611fa6ea056268baf80960fae71ce/mini_hammer_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.urdf b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58802f2cd68ddb36449db010f786cc99d7c8bf83
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_026">
+   <link name="measuring_tape_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_026.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>2bff8d28591b536692bba78a6bf03d93</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact tape measure</name>
+         <color>blue,gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue and gray compact tape measure with metal belt clip</description>
+         <min_height>0.0385</min_height>
+         <max_height>0.0385</max_height>
+         <real_height>0.0385</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205922</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.062171 -0.050720 -0.019271</min>
+            <max>0.077829 0.056725 0.019191</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Most housing is one color, but blue/navy are scattered fragments not coherent functional parts.","merge_groups":[{"colors":["Blue","Olive"],"target_part":"tape measure housing","reason":"Blue marks small shell patches on the main body"},{"colors":["Navy","Olive"],"target_part":"tape measure housing","reason":"Navy is minor striping/noise on the same casing"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.usd b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..331d35a7fc786e91aedc632c041f0cd1044fa61a
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/measuring_tape_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647dd703d6d57cb339e7fc6abb8f81596b0be7e987e68cc173a1df2b103f5f76
+size 5013840
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material.mtl b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c56af51c7ebd3dac218af46e0ca8583bd2fa7adf
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_026_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd measuring_tape_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material_0.png b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbf6c461bb3d3b92d248fe4f7fba46fd70d4754c
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d040a4855c0378c368363fa5280f8b9b547f3b83408e530f76019108e38e01f2
+size 11638729
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.glb b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..575df5fd1ab38af5d05df7ba0c832130ed26b079
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49dbcd9ee6afbda6dc3c9c71420a8300c6baf77eab75e884fc06d45e0e370a5d
+size 15137888
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.mtl b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01066ed37a220746e849845d16ee4287af9f0554
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_026_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca57f3d4b93a29cff9844daaeec79403957d52ae
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026.obj
@@ -0,0 +1,118936 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_026_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026_collision.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f35db03e56a05c059f919acaa8bcf7e537f922
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mesh/measuring_tape_026_collision.obj
@@ -0,0 +1,14789 @@
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+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_026_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/measuring_tape_026_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/measuring_tape_026_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/measuring_tape_026_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/measuring_tape_026_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/measuring_tape_026_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/measuring_tape_026_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/measuring_tape_026_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_026">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbf6c461bb3d3b92d248fe4f7fba46fd70d4754c
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d040a4855c0378c368363fa5280f8b9b547f3b83408e530f76019108e38e01f2
+size 11638729
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591133ad68c1f79a9cd76cc648873016a18605b2
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026.obj
@@ -0,0 +1,118936 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_026_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ee13a096e6ba0cbc45f1ca66cdada323fa75f0
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision.obj
@@ -0,0 +1,14789 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_0.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ef3b770e3bebea103d7ebf543d39122873366b
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_0.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_1.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240ecd8423dc5345575984a058adb9aba9368eff
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_1.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_10.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51ca2e57ecf96da6ea86ac8644578df3c484729
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_10.obj
@@ -0,0 +1,133 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_11.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a51644ca80749bda20a1583b6c0a11cf824188
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_11.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_12.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6009b7c5e2ab4b3cfd619c033ec954f5bbc42a0
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_12.obj
@@ -0,0 +1,781 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_13.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f7cb3e5f754519912cfc6bcfd19442bde123fb4
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_13.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_14.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209dabf3503c4f819004c3f5d44b509f8bb93c2b
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_14.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_15.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a428d9d06e928149571250944c903ff6fb8e9f1
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_15.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_16.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e03afec4d1a8f70d979c5ac79436014dcfc96785
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_16.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_17.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff645edf452b4f8d2d5311f5553fc7d6415acd03
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_17.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01231716 0.03074689 0.01649429
+v -0.03095025 0.03074689 0.01737247
+v -0.01231716 0.02046346 0.01648064
+v -0.01231716 0.03074701 -0.01651236
+v -0.03095025 0.02046346 0.01648064
+v -0.03095025 0.03074701 -0.01740075
+v -0.01231716 0.02046358 -0.01649537
+v -0.01231716 0.02243973 -0.01649878
+v -0.03095025 0.02046358 -0.01649537
+v -0.02571197 0.02046358 -0.01649878
+v -0.02833841 0.02046358 -0.01649878
+f 1 2 3
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+f 3 9 11
+f 3 11 10
+f 3 10 7
+f 4 8 6
+f 6 8 7
+f 6 7 10
+f 6 10 11
+f 6 11 9
+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_18.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898222f7faf3456ee375239d97c305a6d4b85281
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.05854414 -0.01195246 -0.00087786
+v -0.05836238 -0.01443648 -0.00087787
+v -0.05855260 -0.01195247 0.00328003
+v -0.05880411 -0.00736838 0.00991306
+v -0.05877241 -0.00507451 0.00991307
+v -0.05865193 -0.00278185 0.00991308
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+v -0.05802633 -0.00206364 0.00770336
+v -0.05518998 -0.00206361 -0.00087783
+v -0.05835815 -0.01443648 0.00106838
+v -0.03721443 -0.01443648 -0.00087787
+v -0.05867307 -0.00965983 0.00991305
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+v -0.05833490 -0.01443650 0.00549167
+v -0.05853780 -0.01195248 0.00549168
+v -0.05855683 -0.00736838 0.01212471
+v -0.05853569 -0.00507451 0.01212472
+v -0.05842367 -0.00278185 0.01212473
+v -0.05853569 -0.00206365 0.01060543
+v -0.03721443 -0.00206361 -0.00087783
+v -0.03721443 -0.01443653 0.01238624
+v -0.05841945 -0.00965983 0.01212470
+v -0.05830743 -0.01443651 0.00770332
+v -0.05825459 -0.01443652 0.00991304
+v -0.05811721 -0.01443652 0.01212469
+v -0.05765646 -0.01443653 0.01433826
+v -0.05792488 -0.00736839 0.01433636
+v -0.05789529 -0.00507452 0.01433637
+v -0.05778539 -0.00278186 0.01433638
+v -0.05837718 -0.00206365 0.01212473
+v -0.03721443 -0.00206367 0.01650187
+v -0.03721443 -0.01443290 0.01686531
+v -0.03725037 -0.01443654 0.01686723
+v -0.05715345 -0.01443654 0.01554794
+v -0.05715556 -0.00736840 0.01576912
+v -0.05713865 -0.00507453 0.01575182
+v -0.05708370 -0.00278187 0.01569606
+v -0.05754233 -0.00206366 0.01473640
+v -0.05773889 -0.00206366 0.01433638
+v -0.04878599 -0.00206368 0.01866159
+v -0.04648014 -0.01424519 0.01873079
+v -0.04411087 -0.01443655 0.01827884
+v -0.05707524 -0.01443654 0.01568064
+v -0.05561691 -0.01443654 0.01685569
+v -0.05575217 -0.00736840 0.01687495
+v -0.05573950 -0.00507453 0.01685765
+v -0.05548376 -0.00285090 0.01696536
+v -0.05665254 -0.00206367 0.01600377
+v -0.05706045 -0.00206367 0.01566914
+v -0.05036902 -0.00206368 0.01863659
+v -0.04878599 -0.00965986 0.01875195
+v -0.04648014 -0.01443655 0.01873463
+v -0.05553448 -0.01443654 0.01691723
+v -0.05453056 -0.01443654 0.01764612
+v -0.05459819 -0.00736840 0.01768075
+v -0.05458551 -0.00507453 0.01767307
+v -0.05456437 -0.00366115 0.01766154
+v -0.05452421 -0.00213271 0.01764231
+v -0.05514348 -0.00206367 0.01718075
+v -0.05555773 -0.00206367 0.01686920
+v -0.05109185 -0.00206368 0.01862313
+v -0.05109185 -0.00278188 0.01862890
+v -0.04878599 -0.01195253 0.01876734
+v -0.04878599 -0.01424519 0.01876925
+v -0.04878599 -0.01443655 0.01876733
+v -0.05364076 -0.01443655 0.01797113
+v -0.05339982 -0.00736841 0.01810578
+v -0.05339982 -0.00507454 0.01810002
+v -0.05361329 -0.00285091 0.01799425
+v -0.05351184 -0.00206368 0.01801541
+v -0.05447349 -0.00206367 0.01765962
+v -0.05452210 -0.00206367 0.01764039
+v -0.05109185 -0.00507454 0.01864043
+v -0.05109185 -0.00736841 0.01864042
+v -0.04897621 -0.01443655 0.01875579
+v -0.05355622 -0.01443655 0.01799613
+v -0.05128418 -0.01443655 0.01855770
+v -0.05109185 -0.01443655 0.01859040
+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 20
+f 1 20 11
+f 1 11 2
+f 2 10 3
+f 2 11 21
+f 2 21 33
+f 2 33 42
+f 2 42 52
+f 2 52 65
+f 2 65 75
+f 2 75 78
+f 2 78 77
+f 2 77 76
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+f 2 66 54
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+f 2 34 26
+f 2 26 25
+f 2 25 24
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+f 2 23 14
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+f 2 13 10
+f 3 12 4
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+f 3 14 15
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+f 7 9 8
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+f 11 32 21
+f 12 22 16
+f 12 15 14
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+f 12 23 24
+f 12 24 25
+f 12 25 22
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+f 18 29 39
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+f 29 38 39
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+f 35 45 46
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+f 36 47 37
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 42
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 52
+f 52 64 65
+f 52 63 64
+f 54 66 55
+f 55 66 67
+f 55 67 68
+f 55 68 56
+f 56 68 69
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 57 71 58
+f 58 71 72
+f 58 72 59
+f 61 70 68
+f 61 68 62
+f 62 68 73
+f 62 73 63
+f 63 73 64
+f 64 73 74
+f 64 74 75
+f 64 75 65
+f 66 76 67
+f 67 76 77
+f 67 77 74
+f 67 74 73
+f 67 73 68
+f 68 70 69
+f 74 77 78
+f 74 78 75
+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_19.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53633d95a9a648f5f903a039c10e402e31179e5d
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04878475 -0.01195239 -0.01879811
+v -0.04878475 -0.00965972 -0.01877706
+v -0.04628804 -0.01443641 -0.01875076
+v -0.04648074 -0.01443641 -0.01875602
+v -0.04859415 -0.01443641 -0.01879637
+v -0.04878475 -0.01443641 -0.01879461
+v -0.05109295 -0.00736827 -0.01866479
+v -0.05109295 -0.00507440 -0.01866653
+v -0.05109295 -0.00278174 -0.01865424
+v -0.05109295 -0.00206354 -0.01864722
+v -0.04878475 -0.00206354 -0.01867705
+v -0.04388559 -0.01443641 -0.01829118
+v -0.03721653 -0.00206355 -0.01651244
+v -0.05109295 -0.01443641 -0.01862271
+v -0.05332993 -0.00965972 -0.01811575
+v -0.05362317 -0.00736706 -0.01805435
+v -0.05334040 -0.00278174 -0.01812625
+v -0.05331108 -0.00206354 -0.01812274
+v -0.03721653 -0.01443642 -0.01690716
+v -0.03721653 -0.00206361 -0.00087783
+v -0.05354986 -0.01443641 -0.01802981
+v -0.05362317 -0.00505018 -0.01805609
+v -0.05456153 -0.00660284 -0.01773508
+v -0.05454268 -0.00427021 -0.01772631
+v -0.05449450 -0.00278174 -0.01770525
+v -0.05446518 -0.00206355 -0.01769298
+v -0.03721653 -0.01443648 -0.00087787
+v -0.05518989 -0.00206361 -0.00087783
+v -0.05356452 -0.01443641 -0.01802279
+v -0.05442120 -0.01381511 -0.01766846
+v -0.05454058 -0.00813128 -0.01772457
+v -0.05456153 -0.00579865 -0.01773508
+v -0.05548104 -0.00736707 -0.01709483
+v -0.05548104 -0.00505019 -0.01708605
+v -0.05570725 -0.00278175 -0.01684573
+v -0.05570725 -0.00206355 -0.01680538
+v -0.05836105 -0.01443648 -0.00087787
+v -0.05798194 -0.00206357 -0.00999057
+v -0.05854537 -0.01195246 -0.00087786
+v -0.05546428 -0.01443642 -0.01696856
+v -0.05548523 -0.01443642 -0.01695277
+v -0.05715040 -0.00736828 -0.01583361
+v -0.05713783 -0.00507441 -0.01582132
+v -0.05708128 -0.00278175 -0.01576518
+v -0.05705614 -0.00206355 -0.01573887
+v -0.05855166 -0.01195245 -0.00335646
+v -0.05836105 -0.01443647 -0.00136552
+v -0.05831706 -0.00206357 -0.01150965
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+v -0.05846368 -0.00278177 -0.01220078
+v -0.05858307 -0.00507443 -0.01220079
+v -0.05861030 -0.00736830 -0.01220080
+v -0.05706033 -0.01443642 -0.01573540
+v -0.05792538 -0.00736829 -0.01441276
+v -0.05790444 -0.00507442 -0.01441275
+v -0.05779134 -0.00278176 -0.01441274
+v -0.05774106 -0.00206356 -0.01441274
+v -0.05857260 -0.00965975 -0.00999060
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+v -0.05835477 -0.01443647 -0.00335647
+v -0.05795261 -0.00206356 -0.01371986
+v -0.05764472 -0.01443643 -0.01441278
+v -0.05810342 -0.01443643 -0.01237448
+v -0.05845740 -0.00965975 -0.01220081
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+v -0.05830869 -0.01443645 -0.00799440
+v -0.05812227 -0.01443644 -0.01220082
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+f 1 5 6
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+f 1 9 2
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+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_2.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48821b2f99ed279a158e87aa2109b0bd73647f10
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_2.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06035369 -0.00842319 -0.00904569
+v 0.06035369 -0.00842319 0.00914228
+v 0.06035369 0.01654844 -0.00904569
+v 0.06035369 0.01654844 0.00914228
+v 0.06135369 -0.00842319 -0.00904569
+v 0.06135369 -0.00842319 0.00914228
+v 0.06135369 0.01654844 -0.00904569
+v 0.06135369 0.01654844 0.00914228
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_20.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df689273828ec25904b71a43f4a883e17e9a192
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_20.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
+v -0.01231716 0.05598537 -0.00008529
+v -0.01231716 0.05598043 0.00106929
+v -0.01231716 0.03075043 -0.00008539
+v -0.01346537 0.05577785 -0.00008530
+v -0.01345461 0.05577539 0.00106928
+v -0.01333620 0.05574819 0.00549146
+v -0.01231716 0.05593100 0.00549147
+v -0.01231716 0.03075037 0.01649502
+v -0.04470748 0.03075043 -0.00008539
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+v -0.01461000 0.05552835 0.00106928
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+v -0.03974505 0.04318631 0.00328033
+v -0.03860043 0.04438693 0.00106924
+v -0.03860043 0.04438940 -0.00008534
+v -0.01879379 0.05446114 -0.00008530
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_21.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc90e07d7a26814ff65d16b4d9bb1681fec14b6
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_21.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_22.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1b24d4ee1801a10988d449f3903da6df614e32
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_22.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_23.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c5715de3c661043b2688720e8e5541c7b807a8
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_23.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_24.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d28ce1bd069eb8dae03553dc8e84d5bcabbdec8
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_24.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.04417100 0.02243974 -0.01855368
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+v -0.04417100 0.02473199 -0.01847418
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_25.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b86c935877baa689ad08a27b1b818ca9027fcd
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_25.obj
@@ -0,0 +1,1174 @@
+# https://github.com/mikedh/trimesh
+v -0.03725068 -0.05006292 -0.00335131
+v -0.03725068 -0.05005244 -0.00556477
+v -0.03533580 -0.04993388 -0.00556477
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_26.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716bead8852fda9eb117d80935cb87f9b3b54039
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_26.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_3.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9307d2548a9d7d186d8a278088abbe35756a981
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_3.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_4.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39263efdd1bbcbbc71ec9e4cdc5f35335a2dc904
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_4.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_5.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e252fb8b1e33d0a71c2ceec89d6373c246140084
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_5.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_6.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af336365a1599d979e005869f0dcaba15b721df
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_6.obj
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diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_7.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adcf5da5620a19790a1b2a6b2daadc225ed4c207
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_7.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01231716 -0.01443654 0.01669799
+v -0.01231716 -0.00206367 0.01652611
+v -0.03721443 -0.01443290 0.01686659
+v -0.03523064 -0.01443654 0.01679386
+v -0.01231716 -0.01443642 -0.01673559
+v -0.02729793 -0.00206367 0.01652942
+v -0.01231716 -0.00206355 -0.01653058
+v -0.03032723 -0.00206367 0.01652942
+v -0.03494063 -0.00206367 0.01652611
+v -0.03652717 -0.00206367 0.01652281
+v -0.03721443 -0.00206367 0.01649967
+v -0.03721443 -0.01443653 0.01238366
+v -0.03721443 -0.01443642 -0.01690750
+v -0.03494063 -0.00206355 -0.01653388
+v -0.03721443 -0.00206355 -0.01651074
+f 1 2 3
+f 1 3 4
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+f 3 13 12
+f 3 12 4
+f 5 13 7
+f 7 13 14
+f 13 15 14
+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_8.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28388b7c2ae2cfa795d2049f7bf265ce73cc33dd
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.06806365 0.01891623 0.00549070
+v 0.06806365 0.01952912 0.00770286
+v 0.06512207 0.02042068 0.00770287
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+
diff --git a/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_9.obj b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513025dd9dcd53240de7f79c2ffed71a786a3aeb
--- /dev/null
+++ b/dataset/tools/repair_tools/2bff8d28591b536692bba78a6bf03d93/mjcf/mesh/measuring_tape_026_collision_9.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.06806379 -0.02291125 -0.00556574
+v 0.06663935 -0.02288782 -0.00556574
+v 0.06663935 -0.02288430 -0.00559105
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+v 0.06806379 -0.02214722 -0.00756706
+v 0.06806379 -0.02208400 0.00860808
+v 0.06663935 -0.02211915 0.00863881
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+v 0.06806379 -0.02128710 -0.00827937
+v 0.06806379 -0.02134458 0.00903293
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+v 0.06806379 -0.02013989 -0.00894647
+v 0.06806379 -0.02093796 0.00926253
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+v 0.06663935 -0.01959851 -0.00896636
+v 0.06806379 -0.01966179 -0.00894647
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+v 0.06806379 -0.01851458 -0.00868433
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