diff --git a/.gitattributes b/.gitattributes
index 2b42ff0cf167d47da5ae81efb09dedb0734a261c..c2704a21f52a29b26e3ccf989b8815f5391d43b7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5071,3 +5071,4 @@ dataset/tools/repair_tools/1e6da64f854f547394444b5248405a68/mesh/pliers_027.glb
 dataset/tools/repair_tools/1e6da64f854f547394444b5248405a68/pliers_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/mesh/screwdriver_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/232718933a0b59ae8c6dee74671856e1/screwdriver_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.urdf b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f96abedb4dfc6be675482f2bcf32c2766c4c9388
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="umbrella_40">
+   <link name="umbrella_40">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/umbrella_40.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/umbrella_40_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>1.069759</scale>
+         <version>v0.1.5</version>
+         <category>umbrella</category>
+         <description>black umbrella with curved handle and extended canopy</description>
+         <min_height>0.8</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.9</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20251015232407</generate_time>
+         <gs_model>mesh/umbrella_40_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.655027270317078</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.usd b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3118949fa133ce150f05f3e452f148a37dceba1c
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/2b956cac8a7c50879f7670f3a462ded9.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:822df3541543f95dd4f5befe7081c95575d82decebed31522b96b56ad68de5bc
+size 305279
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material.mtl b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material_0.png b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad5aec70274caf1585ae6dea8c74d31d14401321
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4850ac756ac0cf57c65dc062556287029d540281292b871ed3b7b5c060d52c
+size 467395
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.glb b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f3823cb83162f590800c0b01f495401c782e6181
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c56d02cd15e514ebda357b402c45499e31c269102d10585b79b6447185a78133
+size 679328
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..538d24a254382d249d459b9bce9ebedb91201aa2
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40.obj
@@ -0,0 +1,19368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40_collision.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5ad4eeb03a239171a101e4504adff07c831572
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mesh/umbrella_40_collision.obj
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+    <mesh name="collision_mesh_0_20" file="mesh/umbrella_40_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/umbrella_40_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/umbrella_40_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/umbrella_40_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/umbrella_40_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/umbrella_40_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/umbrella_40_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/umbrella_40_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/umbrella_40_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/umbrella_40_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/umbrella_40_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/umbrella_40_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/umbrella_40_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/umbrella_40_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/umbrella_40_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/umbrella_40_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/umbrella_40_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/umbrella_40_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/umbrella_40_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/umbrella_40_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/umbrella_40_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/umbrella_40_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/umbrella_40_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_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" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad5aec70274caf1585ae6dea8c74d31d14401321
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4850ac756ac0cf57c65dc062556287029d540281292b871ed3b7b5c060d52c
+size 467395
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb66040b3ab7d473dd6c11a93bac72e6c02887b
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40.obj
@@ -0,0 +1,19368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f060dc5c479155cca4b3a6e58976834695f9a3
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision.obj
@@ -0,0 +1,11901 @@
+# https://github.com/mikedh/trimesh
+
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_0.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0781971d37cf1d0a58c11a7d4d72aa92d8715c
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_0.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.40862107 -0.00338054 -0.26853123
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_1.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31629ea05b77da0c8eb657a3dde855d00718b7d4
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_1.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.46723535 -0.00518563 -0.33900727
+v -0.46529759 0.00834535 -0.33900722
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_10.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba445828357770c1c450d1678eda89526102c1b
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_10.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v 0.01406504 0.40252514 0.23336411
+v 0.01406504 0.37205833 0.23336400
+v 0.01406504 0.38853916 0.25031969
+v 0.08999947 0.36729678 0.23336398
+v 0.01406504 0.22302708 0.35716599
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+v 0.01406504 0.35831822 0.28680209
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+v 0.09794407 0.36360703 0.23336397
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+v 0.26849147 0.22302753 0.23336345
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+v 0.01523556 0.33992209 0.30378703
+v 0.06524420 0.30342866 0.32109517
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_11.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70eb02825608f29fd3bcbfcc8420f43a6a314f0e
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_11.obj
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_12.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effe5a4deb7466384358c533a2749651f8e8a5c8
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_12.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_13.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79dd102b708aba845d08986b97f9f0cf534c7b93
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_13.obj
@@ -0,0 +1,511 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_14.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df5608e607b3516a6c60d888f8c0a22dd8a3f54
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_14.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_15.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a677af79aefd82ca08d0478007f7acb83309959
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_15.obj
@@ -0,0 +1,421 @@
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_16.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d963da63767703d5615b2d36fe0ee2e300ad8d68
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.40782709 0.00883471 0.12556447
+v 0.40781416 0.01906094 0.12556451
+v 0.34090166 -0.00896492 0.25539049
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_17.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167c6fb1a124e656789ac926122ba0bb8bca9276
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_18.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c5f85fa5702757d150c72db3f3865b0814d431
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_18.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_19.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2dd3e1fab3b96073d8a9e90826f16de4e0eaa3
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_19.obj
@@ -0,0 +1,514 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_2.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efbf42851d25fab0da1cd2468635733ced13e99f
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_2.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_20.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8352c2b3c398570b04d03808c326d2921b22ea66
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_20.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_21.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5124b5269e5f97904572acfc5936dcaeb6d2f94c
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_21.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_22.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1722120e537f73256050974839026444abdeb2de
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_22.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_23.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6307d973f61f09375a216c3dcceecef1edff58e
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_23.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_24.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49caa849acbfd1b365c5912865002beb30e67b70
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_24.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_25.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b08460790b29c1b019e9b2153c5c8ebb852f60
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_25.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_26.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9dff252f80eb6297ac3b5374182d5167e9427f8
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_26.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_27.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c99cfc2c978a7ca01be5dffb54b3b2f5f1ae1f3
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_27.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_28.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe378c3e2203f0db646b365f8fd2a2e55460866
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_28.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_29.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dec4538dd42f07a2f27906308f6a6a68fe43b52
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_29.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_3.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae80a2fb9d1208b7fe2824396b24b5ce352c209c
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_3.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_30.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf53e530871d8770f08ddf7533d3501581c43af
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_30.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_31.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940552cae5cb60a884db9b1a0b10093ceff30cae
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_31.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_32.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf2f8a9914b3a2f95acbe4e360acfbfcd8a5bae
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_32.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_33.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..029ffa1ab564524d387bec5997e476c04c645303
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_33.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_34.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f6005c862b0f68a097c620e08e21641700acb8
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_34.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_35.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48430a8629ef23f9bce8197c8ba8764ddfc8dc78
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_35.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03066013 -0.44348495 0.21409025
+v -0.05755539 -0.44666569 0.23244334
+v -0.05843783 -0.46081546 0.21409019
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+v -0.22007795 -0.33982855 0.33551220
+v -0.22502730 -0.32953222 0.34223631
+f 1 2 3
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+f 1 35 48
+f 1 48 40
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+f 1 28 10
+f 1 10 4
+f 1 4 18
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+f 16 18 17
+f 22 34 25
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+f 25 36 26
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+f 26 38 27
+f 27 39 35
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+f 28 41 29
+f 29 41 42
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+f 49 50 51
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_36.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea3ccdb82c1ca0c006dc2a47e3e86c0926c56b7
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_36.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.24536456 -0.03210697 0.31210156
+v 0.25381713 -0.03210692 0.29825686
+v 0.21094042 -0.11494472 0.31210126
+v 0.28142966 -0.03210697 0.31210156
+v 0.26718068 -0.03210685 0.28056514
+v 0.24831588 -0.11494472 0.31210126
+v 0.27153684 -0.03210683 0.27597429
+v 0.27575130 -0.11494451 0.25539564
+v 0.30082569 -0.03210690 0.29494278
+v 0.25569417 -0.09803656 0.31210132
+v 0.26256484 -0.09803654 0.30636139
+v 0.27137156 -0.09803651 0.29874511
+v 0.27405134 -0.08394235 0.30113219
+v 0.24855198 -0.11494472 0.31191255
+v 0.24845755 -0.11464466 0.31210126
+v 0.28871349 -0.03210678 0.26153003
+v 0.29482861 -0.04164344 0.25539591
+v 0.30593736 -0.11494451 0.25539564
+v 0.31139140 -0.03210687 0.28486735
+v 0.28089842 -0.09803647 0.28979657
+v 0.24961446 -0.11200099 0.31210127
+v 0.25981419 -0.11108460 0.30402983
+v 0.26826678 -0.11494465 0.29503684
+v 0.27758112 -0.11494462 0.28652128
+v 0.27802974 -0.11274696 0.28695984
+v 0.25899964 -0.11494468 0.30331371
+v 0.29930280 -0.03210676 0.25539594
+v 0.30599639 -0.11479042 0.25539564
+v 0.31898220 -0.03210684 0.27638508
+v 0.29971600 -0.11494453 0.26234020
+v 0.28971694 -0.09803644 0.28061485
+v 0.29513554 -0.11164402 0.26881292
+v 0.28609271 -0.11494459 0.27732294
+v 0.33153118 -0.03210676 0.25539594
+v 0.31132057 -0.09803635 0.25539570
+v 0.33107077 -0.03210677 0.25742213
+v 0.31995023 -0.03210683 0.27503614
+v 0.31939537 -0.03210683 0.27586883
+v 0.29018914 -0.11494457 0.27282091
+v 0.33149577 -0.03210676 0.25558469
+f 1 2 3
+f 1 3 6
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+f 1 15 21
+f 1 21 10
+f 1 10 4
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+f 12 22 26
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+f 14 26 15
+f 15 26 21
+f 16 27 17
+f 18 28 29
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+f 19 31 32
+f 19 32 30
+f 19 20 25
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+f 21 26 22
+f 24 33 31
+f 24 31 25
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 30 32 39
+f 31 33 32
+f 32 33 39
+f 34 40 35
+f 35 40 36
+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_37.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85db68cf13e3afeeafdd21cf4c514f7fe3ff2f3
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_37.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.14227204 0.31546826 0.34258559
+v -0.14227204 0.27777708 0.34258545
+v -0.14227204 0.29962679 0.35385476
+v -0.01530172 0.28202683 0.35409022
+v -0.01644946 0.29766314 0.34258552
+v -0.14227204 0.19412946 0.38078230
+v -0.14069581 0.27742539 0.34258545
+v -0.14227204 0.29071688 0.36015859
+v -0.01530172 0.27311693 0.36032303
+v 0.00234283 0.28007777 0.35282272
+v 0.00234283 0.29222634 0.34386798
+v -0.01487323 0.29540634 0.34406990
+v -0.01338883 0.29707698 0.34258552
+v -0.14227204 0.26011836 0.38078255
+v -0.14048156 0.27738140 0.34258545
+v -0.10360095 0.27049384 0.34258542
+v 0.01406504 0.16577315 0.38078220
+v -0.14227204 0.28807908 0.36194953
+v -0.01530172 0.25916586 0.36927030
+v -0.00593619 0.24947927 0.37426925
+v 0.00234283 0.27116786 0.35903684
+v -0.14227204 0.26850070 0.37521154
+v 0.01406504 0.26933609 0.35780671
+v 0.01406504 0.28656974 0.34558786
+v 0.01403444 0.29065833 0.34258550
+v 0.00500557 0.29322284 0.34258551
+v 0.00234283 0.29389694 0.34258551
+v -0.01658719 0.23935302 0.38078247
+v -0.01530172 0.24042280 0.38011695
+v -0.01530172 0.25025594 0.37473287
+v 0.01406504 0.24993367 0.34258535
+v 0.01406504 0.22910958 0.38078243
+v -0.00388556 0.23611439 0.38078246
+v 0.00090432 0.24114087 0.37754455
+v 0.00581664 0.24757419 0.37300921
+v 0.00090432 0.25654273 0.36852623
+v -0.01530172 0.23913322 0.38078247
+v 0.01406504 0.26702067 0.35926488
+v 0.01406504 0.28484050 0.34258548
+v 0.01406504 0.23111724 0.37989632
+v 0.01256533 0.22994489 0.38078243
+v 0.00093493 0.23467826 0.38078245
+v 0.01406504 0.23740401 0.37675187
+v 0.01406504 0.24584498 0.37215298
+v 0.01406504 0.25408078 0.36724003
+f 1 2 6
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+f 1 14 22
+f 1 22 18
+f 1 18 8
+f 1 8 3
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+f 1 4 5
+f 1 5 13
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+f 3 8 4
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+f 17 31 39
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+f 17 38 45
+f 17 45 44
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+f 17 40 32
+f 19 30 20
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+f 20 35 36
+f 20 36 21
+f 20 30 29
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+f 20 37 33
+f 21 38 23
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+f 34 43 35
+f 35 43 44
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+f 40 43 42
+f 40 42 41
+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_38.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753a6a4ea50ec30d90a0a1f36c3286bb1fd2ac0c
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.14227204 0.19413832 0.38078230
+v -0.14227204 0.26012620 0.38078255
+v -0.14431563 0.19269726 0.38078230
+v -0.14227204 0.27777915 0.34258545
+v -0.15638447 0.26314838 0.38078256
+v -0.14227204 0.26849229 0.37521154
+v -0.25168836 0.33926371 0.35945211
+v -0.26217628 0.32947655 0.36884431
+v -0.21780823 0.14232071 0.38078211
+v -0.15638447 0.28078132 0.34258546
+v -0.14227204 0.31546648 0.34258559
+v -0.22694661 0.13729707 0.38078209
+v -0.23312883 0.15817224 0.37363329
+v -0.24454218 0.15707144 0.37339025
+v -0.17401858 0.26689110 0.38078257
+v -0.14227204 0.29072848 0.36015859
+v -0.17013702 0.32545374 0.34258563
+v -0.20166506 0.33574118 0.34258566
+v -0.20893978 0.33730234 0.34258567
+v -0.25168836 0.33926373 0.35497284
+v -0.26217628 0.33952388 0.36065604
+v -0.14227204 0.29963494 0.35385476
+v -0.27170024 0.33900350 0.35893239
+v -0.27346109 0.32947657 0.36230114
+v -0.25440031 0.15979338 0.38078218
+v -0.24997893 0.18699313 0.38078228
+v -0.24658578 0.20480605 0.38078234
+v -0.24454218 0.21541375 0.38078238
+v -0.24180451 0.22261898 0.38078241
+v -0.23410566 0.24041189 0.38078247
+v -0.22690806 0.25430196 0.38078252
+v -0.22368200 0.25822481 0.38078254
+v -0.20927394 0.27101409 0.38078259
+v -0.20927394 0.27603772 0.37984413
+v -0.19144705 0.26995331 0.38078258
+v -0.17401858 0.28624529 0.34258548
+v -0.25387333 0.15809219 0.37366694
+v -0.25407899 0.24565578 0.35565297
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+v -0.24454218 0.13505543 0.38078209
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+v -0.26217628 0.33952390 0.35459148
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+v -0.25429748 0.15575045 0.38078216
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+v -0.25414325 0.15362892 0.38078215
+v -0.27357676 0.31738783 0.35346968
+v -0.24454218 0.31166371 0.34643297
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+v -0.22721652 0.31196396 0.34258558
+v -0.22481305 0.33255889 0.34258565
+v -0.26217628 0.32947661 0.34991773
+v -0.22550710 0.32931655 0.34258564
+f 1 2 5
+f 1 5 15
+f 1 15 35
+f 1 35 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 45
+f 1 45 48
+f 1 48 40
+f 1 40 39
+f 1 39 12
+f 1 12 9
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+f 1 22 16
+f 1 16 6
+f 1 6 2
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+f 41 54 42
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+f 44 48 45
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+f 49 54 50
+f 50 54 51
+f 51 54 55
+f 53 55 54
+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_39.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af14522738bea764a4decefbde3598d08d253464
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_39.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10063509 -0.37966929 0.21409049
+v 0.10063509 -0.37736109 0.21683779
+v -0.03066013 -0.40423184 0.26361745
+v -0.03066013 -0.41223527 0.25393280
+v -0.03066013 -0.42287308 0.24083594
+v -0.03066013 -0.44347126 0.21409025
+v 0.10063509 -0.34722889 0.21409060
+v -0.02068704 -0.39437179 0.26909960
+v 0.10063509 -0.36007467 0.23598132
+v 0.06508668 -0.30342345 0.32097288
+v -0.03066013 -0.39698109 0.27095620
+v -0.03066013 -0.41306309 0.21409036
+v 0.05463807 -0.36712466 0.21409053
+v 0.10063509 -0.18718508 0.34223683
+v -0.00793793 -0.37367320 0.28412840
+v 0.10063509 -0.30121553 0.30054985
+v 0.08595820 -0.30540546 0.30553015
+v 0.10063509 -0.29873169 0.30307139
+v 0.10063509 -0.29225870 0.30948184
+v 0.07684618 -0.29935900 0.31747286
+v 0.10063509 -0.28086821 0.31830091
+v 0.09648391 -0.28287538 0.31905357
+v 0.08472441 -0.28749178 0.32191377
+v 0.07173112 -0.29366376 0.32413419
+v 0.05939327 -0.28184678 0.33655363
+v 0.04764662 -0.28578578 0.33881171
+v 0.05524210 -0.30533025 0.32250332
+v -0.03066013 -0.39580188 0.27200999
+v -0.01429964 -0.40357933 0.21409040
+v -0.03066013 -0.26159978 0.34223656
+v 0.04350830 -0.37231814 0.21409051
+v 0.10063509 -0.24097641 0.34223663
+v 0.01946236 -0.38473733 0.21409047
+v 0.00862819 -0.39040749 0.21409045
+v 0.00427139 -0.39286624 0.21409044
+v -0.01969744 -0.37565528 0.28570902
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_4.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744ba59255b24c6fa189009a3cbc50704f984f90
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_4.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_40.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff02daf2e0c79c42ca056d1b302d85418d71179
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_40.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_41.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f588c439fef985aa680519b8229db0a25cd6a9b
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_41.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_42.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d1ab3efcab691b13c034b30a8a79b96f1cc2e9
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_42.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.31419777 -0.11494436 0.21406746
+v 0.24346467 -0.23887374 0.21406700
+v 0.33841900 -0.11494436 0.21406746
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_5.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f171e581aa5235cd4cc5c7345910a5f153a2b8cb
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_6.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4328b0d1f3c3afeb5f67a4b7b8931e2066bcf7f
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_6.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.11435999 -0.47794264 -0.02187530
+v 0.11505134 -0.48299597 -0.02187531
+v 0.12787281 -0.46350721 -0.02187524
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_7.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d352573625ac5048e2f9b73c89f560d20d145e7
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.11374709 0.48281477 -0.02187176
+v 0.11374709 0.47741106 -0.02187178
+v 0.11421733 0.48283273 -0.02187176
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+
diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_8.obj b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c273e9860f6e1aed7792c15fe7438566d85b21b
--- /dev/null
+++ b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/mjcf/mesh/umbrella_40_collision_8.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.06826109 0.44806483 0.23336028
+v -0.08572851 0.44666845 0.23336027
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diff --git a/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/video.mp4 b/dataset/tools/repair_tools/2b956cac8a7c50879f7670f3a462ded9/video.mp4
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