diff --git a/.gitattributes b/.gitattributes
index 1424b8668da33c348831fb63a2f4100f7a771475..c8ea989540a05eae06480f956a01279021b8919f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5125,4 +5125,6 @@ dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/mesh/wrench_010.glb
dataset/tools/repair_tools/98e5cfe2f2e8517a85ada8efc2d8473a/wrench_010.usd filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/97469c9306275ff5a80f605bbe07a308/mesh/wrench_026.glb filter=lfs diff=lfs merge=lfs -text
dataset/tools/repair_tools/97469c9306275ff5a80f605bbe07a308/wrench_026.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/9ece9cdd41c65b14bb0b69deca099b96.urdf b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/9ece9cdd41c65b14bb0b69deca099b96.urdf
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/9ece9cdd41c65b14bb0b69deca099b96.usd b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/9ece9cdd41c65b14bb0b69deca099b96.usd
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index 0000000000000000000000000000000000000000..b9293500ae89cd5159feec71b56cde8a2635aa18
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+size 503283
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mesh/material.mtl b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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+newmtl material_0
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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/9ece9cdd41c65b14bb0b69deca099b96/mesh/toolbox_32_collision.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mesh/toolbox_32_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c977702d8d2123c62e5698bab33dd0b1f59b16e3
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mesh/toolbox_32_collision.obj
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/material_0.png
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c6983b8c92ac90667197eab3b565fe9db0cb3bf
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision.obj
@@ -0,0 +1,14214 @@
+# https://github.com/mikedh/trimesh
+
+o toolbox_32_collision.obj
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_0.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..032482eae9fdcea149d4d338471abb3f1ca011b3
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_0.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_1.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32db9dfa59b9c6f4d4b36f480bf21edcd418a78c
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_1.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_10.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29fb28d7a168e5142d3b583b35daccec3b084e2a
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_10.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03997309 -0.18454523 -0.12150244
+v 0.03530493 -0.18453482 -0.12150244
+v 0.03997309 -0.18419458 -0.13381794
+v 0.03997309 -0.17118730 -0.12150239
+v 0.03479489 -0.18447581 -0.12150244
+v 0.03530493 -0.18434387 -0.12731683
+v 0.03530493 -0.18410432 -0.13381794
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+v 0.03997309 -0.18417375 -0.13400646
+v 0.03997309 -0.16798664 -0.13400640
+v 0.03066920 -0.15134477 -0.13400634
+v 0.02886029 -0.14908142 -0.13400633
+v 0.02753764 -0.16055442 -0.12150235
+v 0.02996033 -0.18387873 -0.12150244
+v 0.03048333 -0.18377456 -0.12731683
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+v 0.03530493 -0.18408349 -0.13400646
+v 0.03513204 -0.18407308 -0.13400646
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+v 0.01886698 -0.16120704 -0.12150235
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+v 0.02310938 -0.15868334 -0.12150234
+v 0.02675097 -0.18279912 -0.12150243
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+v 0.02784885 -0.18216728 -0.13381793
+v 0.02369722 -0.15288954 -0.13400634
+v 0.01845419 -0.16162014 -0.12150235
+v 0.02634683 -0.18245198 -0.12150243
+v 0.02384202 -0.17889375 -0.13381792
+v 0.02789208 -0.18214646 -0.13400645
+v 0.02775376 -0.18204926 -0.13400645
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+v 0.01986112 -0.17502320 -0.12150240
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+v 0.02101519 -0.17342631 -0.13400642
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+v 0.01991515 -0.16665015 -0.13400639
+v 0.01975523 -0.16662237 -0.13325235
+v 0.01922141 -0.16426531 -0.13070991
+v 0.01883456 -0.16662239 -0.12770725
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+f 1 9 10
+f 1 10 4
+f 1 4 13
+f 1 13 22
+f 1 22 21
+f 1 21 20
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+f 44 52 47
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+f 47 52 51
+f 47 51 50
+f 47 50 49
+f 47 49 48
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_11.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bd7f89166a6353e8ddcee6260902f4b53fe59d
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03530320 -0.19950065 0.05203339
+v 0.03997308 -0.19937859 0.04822136
+v 0.03997308 -0.19921133 0.05203339
+v 0.03264648 -0.19944187 0.05203339
+v 0.03530320 -0.19938751 0.01571407
+v 0.03997308 -0.19927901 0.01571407
+v 0.03997308 -0.17772540 0.05203347
+v -0.00011724 -0.19841574 0.05203339
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+v -0.00011724 -0.19722209 -0.01469960
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+v 0.02245515 -0.19740292 -0.01028726
+v 0.02245515 -0.19698249 -0.01434691
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+v 0.01998679 -0.15660549 0.01285520
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+v -0.00011724 -0.15385700 0.00921577
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+v 0.00319092 -0.15338231 -0.00378864
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+f 67 75 73
+f 71 72 75
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_12.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b05a4b661a1828b29a4aa4fc81cf7c4fe3188a
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_12.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 -0.17176195 -0.13166414
+v -0.02851175 -0.15520681 -0.13166408
+v -0.04037234 -0.18496641 -0.13166419
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+v -0.02447678 -0.15523513 -0.13166408
+v -0.01608373 -0.15626743 -0.03273866
+v -0.00012118 -0.15665441 -0.03273867
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_13.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a02be6c4b43a6fca8f82a5ea8f51418415d76b
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_14.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a66954b3e25bb48f0965d6594f9da7796bdb5a3
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.09011544 0.01631773 -0.13041493
+v 0.09011054 0.02285940 -0.13381814
+v 0.09010072 0.07519266 -0.13381794
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+v 0.09010072 -0.00065072 -0.13381822
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_15.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807bae318affa4a9a419be29d6282605f34b210f
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_15.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
+v -0.00323306 -0.08948289 0.08073762
+v -0.00011535 -0.08947658 0.08073762
+v -0.00011535 -0.08947028 0.08389606
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_16.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30746a191ebcfddeee0c7d9f6dee1c393183e529
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_17.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a24feb07c4164a96ce4d97db38e401ba8ba970c
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_17.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+f 18 29 25
+f 20 29 22
+f 21 24 30
+f 22 29 31
+f 22 31 23
+f 23 31 24
+f 24 31 32
+f 24 32 30
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+f 28 31 29
+f 30 32 35
+f 31 34 32
+f 32 33 36
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 35
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_18.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a159ecbdabed8dbc83d7ab5335badac12bd31cfa
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00011692 0.02805803 0.06601289
+v -0.00011692 0.02805803 0.06701289
+v -0.00011692 0.04631927 0.06601289
+v -0.00011692 0.04631927 0.06701289
+v 0.00316331 0.02805803 0.06601289
+v 0.00316331 0.02805803 0.06701289
+v 0.00316331 0.04631927 0.06601289
+v 0.00316331 0.04631927 0.06701289
+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/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_19.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f8b7e8e593dadabb376c3f962a42efe35a1ea0
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_19.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.07201599 0.16896749 -0.13041240
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_2.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f81fccb2213cd5df3592530f9215803b5b50545
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_2.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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+f 116 142 164
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+f 151 171 172
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+f 155 168 174
+f 155 174 156
+f 155 173 168
+f 156 174 157
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+f 158 160 159
+f 158 174 168
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+f 160 175 161
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+f 165 166 178
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+f 170 173 172
+f 170 172 171
+f 175 176 179
+f 175 179 178
+f 175 178 177
+f 176 178 179
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_20.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ced2d502df237dae1d68e72d3c751adb39b8e79
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_20.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.00011724 -0.16533235 -0.10582646
+v -0.00011724 -0.16063622 -0.10350321
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+v 0.01986121 -0.17502148 -0.12150118
+v 0.02308696 -0.17952608 -0.12150120
+v -0.00011724 -0.15953162 -0.10130326
+v 0.02245515 -0.15854508 -0.12080888
+v 0.02310658 -0.15868234 -0.12150112
+v -0.00011724 -0.15928262 -0.09795591
+v -0.00011724 -0.15907831 -0.09480769
+v -0.00011724 -0.16786084 -0.09480773
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+v 0.02674830 -0.18279837 -0.12150121
+v 0.02602231 -0.18310807 -0.11431342
+v 0.02567698 -0.18323897 -0.11101349
+v 0.01634507 -0.18488342 -0.02463682
+v -0.00011724 -0.15458994 -0.02463671
+v 0.00450947 -0.15457078 -0.02463671
+v 0.01093350 -0.15463144 -0.02463671
+v 0.01603897 -0.15493153 -0.02463671
+v 0.01690624 -0.15508158 -0.02463671
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+v 0.02062644 -0.15613191 -0.02463671
+v -0.00011724 -0.16773644 -0.06231099
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+v -0.00011724 -0.16709809 -0.02463675
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+v 0.03997308 -0.18456701 -0.12080898
+v 0.03997308 -0.18475539 -0.11431343
+v 0.03530320 -0.18717563 -0.02463683
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+f 1 39 38
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+f 41 54 53
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+f 41 52 51
+f 41 51 50
+f 41 50 49
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+f 58 63 59
+f 59 63 64
+f 59 64 61
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_21.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4896d931c1dd2d826a43bc0abf5b2281bd1640e
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.07254716 -0.00065070 -0.13790167
+v 0.07880077 -0.00065111 -0.02678835
+v 0.09000560 -0.00065070 -0.13790167
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+v 0.07876562 -0.01641546 -0.02678841
+v 0.09004426 -0.00065071 -0.13633532
+v 0.09000560 -0.00304896 -0.13790168
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+v 0.09018839 -0.01641546 -0.02678841
+v 0.07875331 -0.02295340 -0.02678843
+v 0.09010402 -0.00065072 -0.13381175
+v 0.08999153 -0.05550516 -0.13790187
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+v 0.08999681 -0.03604412 -0.13790180
+v 0.09000384 -0.00987712 -0.13790171
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+v 0.07854064 -0.15670602 -0.02678893
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+v 0.09020596 -0.02646677 -0.02678845
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_22.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7542ba2de8930cd6910d685db43a08ab3b589585
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.08996072 -0.16218008 -0.02906533
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+v -0.08995101 -0.16533165 -0.02906534
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+f 7 19 18
+f 8 20 32
+f 8 32 44
+f 8 44 58
+f 8 58 59
+f 8 59 45
+f 8 45 34
+f 8 34 23
+f 8 23 21
+f 8 21 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 15 21 16
+f 16 21 23
+f 16 23 22
+f 17 24 19
+f 18 25 26
+f 18 26 27
+f 18 19 28
+f 18 28 25
+f 19 24 29
+f 19 29 30
+f 19 30 28
+f 20 31 32
+f 22 23 33
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 33
+f 25 27 26
+f 25 28 27
+f 27 28 39
+f 28 30 40
+f 28 40 39
+f 29 35 45
+f 29 45 59
+f 29 59 57
+f 29 57 70
+f 29 70 78
+f 29 78 74
+f 29 74 62
+f 29 62 48
+f 29 48 41
+f 29 41 30
+f 30 41 40
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 34 45 35
+f 39 46 47
+f 39 40 41
+f 39 41 46
+f 41 48 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 46
+f 42 54 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 46 53 60
+f 46 60 47
+f 47 60 61
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 50
+f 50 65 51
+f 51 65 52
+f 52 65 60
+f 52 60 53
+f 54 66 55
+f 55 67 56
+f 55 66 68
+f 55 68 69
+f 55 69 67
+f 56 67 57
+f 57 59 58
+f 57 67 69
+f 57 69 71
+f 57 71 70
+f 60 72 73
+f 60 73 61
+f 60 65 72
+f 62 74 63
+f 63 74 75
+f 63 75 64
+f 64 75 65
+f 65 75 73
+f 65 73 76
+f 65 76 72
+f 70 77 78
+f 70 71 77
+f 71 79 77
+f 72 76 73
+f 74 78 80
+f 74 80 75
+f 75 81 79
+f 75 80 78
+f 75 78 81
+f 77 79 82
+f 77 82 78
+f 78 82 81
+f 79 81 82
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_23.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe958c0011b510829bcb60ebfaddea4741764365
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_23.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 0.18709441 -0.02210818
+v -0.02619085 0.19639099 -0.01378994
+v -0.02250264 0.19653145 -0.01406651
+v -0.01608373 0.19662032 -0.01427925
+v -0.00966088 0.19664901 -0.01436435
+v -0.02250264 0.18742694 -0.02210818
+v -0.04037234 0.17468172 -0.02210823
+v -0.04037234 0.19656007 0.00443495
+v -0.03243244 0.19634223 -0.00740059
+v -0.04037234 0.19950982 0.01571028
+v -0.03534834 0.19959295 0.01571028
+v -0.00323410 0.19665186 -0.01436435
+v -0.00012118 0.19295960 -0.01688890
+v -0.01653294 0.18554927 -0.02210819
+v -0.00012118 0.19665186 -0.01435016
+v -0.02802708 0.17041899 -0.02210824
+v -0.02594655 0.17041888 0.00921446
+v -0.04037234 0.17789786 0.05033750
+v -0.04037234 0.19730539 0.00687439
+v -0.04037234 0.19967597 0.04821725
+v -0.03534834 0.19970177 0.04821725
+v -0.00012118 0.19745143 0.05033758
+v -0.00012118 0.18641500 -0.01812992
+v -0.01419628 0.18160760 -0.02210820
+v -0.00970423 0.17041899 -0.02210824
+v -0.02301489 0.17041885 0.01585201
+v -0.01608373 0.17191520 0.02871580
+v -0.00966088 0.17174606 0.02871580
+v -0.00323410 0.17167440 0.02871580
+v -0.00012118 0.17166293 0.02871580
+v -0.00012118 0.17931974 0.05033751
+v -0.04037234 0.19945810 0.05033758
+v -0.03534834 0.19964730 0.05033758
+v -0.01352247 0.18042367 -0.02210821
+v -0.00012118 0.17987611 -0.01606634
+v -0.00012118 0.17598029 -0.01400985
+v -0.00012118 0.17041892 -0.00367770
+v -0.01619800 0.17041884 0.01836236
+v -0.01608373 0.17041884 0.01839782
+v -0.00966088 0.17041884 0.01948280
+v -0.00811231 0.17041884 0.01956081
+v -0.00323410 0.17041884 0.01970973
+v -0.00159095 0.17041884 0.01963881
+v -0.00012118 0.17041884 0.01953954
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 24
+f 1 24 34
+f 1 34 25
+f 1 25 16
+f 1 16 7
+f 1 7 18
+f 1 18 32
+f 1 32 20
+f 1 20 10
+f 1 10 19
+f 1 19 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 12 6
+f 5 11 12
+f 6 13 14
+f 6 12 15
+f 6 15 13
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 9 19 10
+f 10 20 11
+f 11 15 12
+f 11 20 21
+f 11 21 22
+f 11 22 15
+f 13 23 14
+f 13 15 22
+f 13 22 31
+f 13 31 30
+f 13 30 44
+f 13 44 37
+f 13 37 36
+f 13 36 35
+f 13 35 23
+f 14 23 24
+f 16 25 37
+f 16 37 44
+f 16 44 43
+f 16 43 42
+f 16 42 41
+f 16 41 40
+f 16 40 39
+f 16 39 38
+f 16 38 26
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 22
+f 18 22 33
+f 18 33 32
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 23 25 34
+f 23 34 24
+f 23 35 25
+f 25 35 36
+f 25 36 37
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 43
+f 30 43 44
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_24.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfc84979d3c3010c36468e871b3f8734fa31e85
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.09290419 0.17333159 0.02563398
+v 0.09190940 0.17892801 0.02563400
+v 0.09289900 0.17043235 0.02563397
+v 0.08993536 0.17043254 -0.02677685
+v 0.08993018 0.17067671 -0.02677685
+v 0.08985246 0.17219510 -0.02677685
+v 0.08974884 0.17394644 -0.02677684
+v 0.08782143 0.17987684 -0.02677682
+v 0.08639142 0.18189200 -0.02677681
+v 0.08475935 0.18418502 -0.02677680
+v 0.08748984 0.18452725 0.02563402
+v 0.07862481 0.17043235 0.02563397
+v 0.07741241 0.17043254 -0.02677685
+v 0.08266096 0.18508876 -0.02677680
+v 0.08639660 0.18591091 0.02563402
+v 0.07847455 0.17043235 0.02414619
+v 0.03997827 0.18005909 0.02563400
+v 0.03997827 0.17643865 -0.00590690
+v 0.03997827 0.17593909 -0.01028815
+v 0.03997827 0.17526552 -0.01678821
+v 0.03997827 0.17509432 -0.01856328
+v 0.03997827 0.17454144 -0.02506846
+v 0.03997827 0.17440392 -0.02677684
+v 0.07810669 0.17043238 0.01571203
+v 0.08026725 0.18609353 -0.02677680
+v 0.08026725 0.18833022 0.02563403
+v 0.07833985 0.17043236 0.02221721
+v 0.03997827 0.19909084 0.02563407
+v 0.07815332 0.17043238 0.01704077
+v 0.03997827 0.18684851 -0.02677679
+v 0.07728288 0.18651452 -0.02677679
+v 0.04172951 0.19817876 0.00921208
+v 0.04172951 0.19905720 0.01571213
+v 0.04706096 0.19767915 0.01571213
+v 0.04722676 0.19776050 0.02563407
+v 0.03997827 0.19910491 0.01571213
+v 0.04058446 0.19907961 0.02563407
+v 0.03997827 0.19664074 0.00064965
+v 0.04517500 0.18689342 -0.02677679
+v 0.07384257 0.18698043 -0.02677679
+v 0.03997827 0.19846500 0.01098715
+v 0.04172951 0.19905717 0.02563407
+v 0.07085820 0.18699165 -0.02677679
+v 0.06741788 0.18698884 -0.02677679
+v 0.05159451 0.18692991 -0.02677679
+f 1 2 11
+f 1 11 15
+f 1 15 26
+f 1 26 35
+f 1 35 42
+f 1 42 37
+f 1 37 28
+f 1 28 17
+f 1 17 12
+f 1 12 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 2 8 9
+f 2 9 10
+f 2 10 11
+f 3 12 16
+f 3 16 27
+f 3 27 29
+f 3 29 24
+f 3 24 13
+f 3 13 4
+f 4 13 23
+f 4 23 30
+f 4 30 39
+f 4 39 45
+f 4 45 44
+f 4 44 43
+f 4 43 40
+f 4 40 31
+f 4 31 25
+f 4 25 14
+f 4 14 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 10 14 15
+f 10 15 11
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 16
+f 13 24 23
+f 14 25 15
+f 15 25 26
+f 16 23 27
+f 17 28 36
+f 17 36 41
+f 17 41 38
+f 17 38 30
+f 17 30 23
+f 17 23 22
+f 17 22 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 23 24 29
+f 23 29 27
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 28 37 36
+f 30 38 39
+f 31 40 32
+f 32 38 41
+f 32 41 36
+f 32 36 33
+f 32 40 38
+f 33 36 42
+f 33 42 35
+f 33 35 34
+f 36 37 42
+f 38 40 43
+f 38 43 44
+f 38 44 45
+f 38 45 39
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_25.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca69aa432fcb4c6900e518adceecd5d3beb6654
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.03997308 0.14211340 0.06311898
+v 0.03764599 0.14211340 0.06373507
+v 0.03997308 0.14211344 0.05220432
+v 0.03997308 0.17534288 0.07820539
+v 0.03724572 0.14211340 0.06383427
+v 0.03919216 0.14211344 0.05220955
+v -0.00011724 0.17813872 0.05203477
+v 0.03997308 0.17490037 0.05203476
+v 0.03997308 0.17986985 0.07853694
+v 0.03530320 0.17986985 0.07870141
+v 0.03530320 0.17519721 0.07825760
+v 0.02245515 0.14211339 0.06537970
+v 0.02887918 0.14211339 0.06511865
+v 0.02994265 0.14211339 0.06503511
+v 0.03330183 0.14211339 0.06472707
+v 0.03651580 0.14211339 0.06401439
+v 0.03530320 0.14211344 0.05224348
+v -0.00011724 0.19753524 0.05203485
+v -0.00011724 0.14211344 0.05262462
+v 0.03997308 0.19919921 0.05203485
+v 0.03997308 0.18426235 0.07780863
+v 0.03530320 0.18502432 0.07792088
+v -0.00011724 0.17986985 0.07838815
+v -0.00011724 0.17546614 0.07811925
+v -0.00011724 0.14211339 0.06584438
+v -0.00011724 0.19767529 0.05472631
+v 0.02887918 0.19924404 0.05203485
+v 0.03795993 0.19932809 0.05203485
+v 0.03530320 0.19927202 0.06122655
+v 0.03997308 0.19901991 0.05650148
+v 0.03997308 0.18753433 0.07597865
+v 0.03887822 0.19657710 0.07136064
+v 0.03530320 0.19295775 0.07474650
+v 0.03530320 0.18829630 0.07700982
+v 0.02887918 0.18487865 0.07787389
+v 0.02887918 0.18815064 0.07701504
+v -0.00011724 0.18166271 0.07807751
+v -0.00011724 0.19760244 0.05807302
+v 0.02887918 0.19926081 0.06122655
+v 0.02887918 0.19927204 0.05472631
+v 0.03153591 0.19930568 0.05203485
+v 0.03723394 0.19933368 0.05203485
+v 0.03530320 0.19933367 0.05472631
+v 0.03530320 0.19863329 0.06772679
+v 0.03997308 0.19796659 0.06316879
+v 0.03997308 0.19468338 0.07178094
+v 0.03997308 0.19597200 0.07040780
+v 0.03997308 0.19714859 0.06759886
+v 0.03984358 0.19719340 0.06772678
+v 0.03530320 0.19710375 0.07196368
+v 0.02887918 0.19295775 0.07468646
+v -0.00011724 0.18357322 0.07774597
+v -0.00011724 0.19752400 0.06122655
+v 0.02887918 0.19852123 0.06772679
+v 0.03530320 0.19933930 0.05203485
+v 0.02887918 0.19703091 0.07190102
+v 0.03997308 0.19722702 0.06732737
+v -0.00011724 0.18516440 0.07651119
+v -0.00011724 0.19708698 0.06321055
+v -0.00011724 0.19667235 0.06507708
+v -0.00011724 0.19524927 0.06674783
+v -0.00011724 0.19389902 0.06832719
+v -0.00011724 0.19062704 0.07195582
+v -0.00011724 0.18868290 0.07362917
+v -0.00011724 0.18684520 0.07520593
+f 1 2 5
+f 1 5 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 25
+f 1 25 19
+f 1 19 17
+f 1 17 6
+f 1 6 3
+f 1 3 8
+f 1 8 20
+f 1 20 30
+f 1 30 45
+f 1 45 57
+f 1 57 48
+f 1 48 47
+f 1 47 46
+f 1 46 31
+f 1 31 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 6 17 7
+f 7 18 27
+f 7 27 41
+f 7 41 55
+f 7 55 42
+f 7 42 28
+f 7 28 20
+f 7 20 8
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+f 7 64 63
+f 7 63 62
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+f 7 59 53
+f 7 53 38
+f 7 38 26
+f 7 26 18
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 11 25 12
+f 18 26 27
+f 20 28 29
+f 20 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 35 23
+f 22 34 36
+f 22 36 35
+f 23 35 37
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 28 42 43
+f 28 43 29
+f 29 39 44
+f 29 44 30
+f 29 43 39
+f 30 44 45
+f 31 46 32
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 44
+f 32 44 50
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 36
+f 35 52 37
+f 35 36 52
+f 36 51 52
+f 38 53 39
+f 39 54 44
+f 39 43 41
+f 39 41 40
+f 39 53 54
+f 41 43 55
+f 42 55 43
+f 44 54 56
+f 44 56 50
+f 44 49 57
+f 44 57 45
+f 48 57 49
+f 50 56 51
+f 51 56 52
+f 52 56 58
+f 53 59 54
+f 54 59 60
+f 54 60 56
+f 56 60 61
+f 56 61 62
+f 56 62 63
+f 56 63 64
+f 56 64 65
+f 56 65 58
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_26.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12cdb5187e89296b3331a303fb5682c79082e30d
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_26.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.09288589 -0.17073936 0.02594833
+v 0.09284445 -0.17325128 0.02594832
+v 0.08962286 -0.17073916 -0.02677811
+v 0.07874611 -0.17073936 0.02594833
+v 0.09151853 -0.17968894 0.02594830
+v 0.08953481 -0.17342991 -0.02677812
+v 0.07759111 -0.17073916 -0.02677811
+v 0.07836801 -0.17073934 0.02221164
+v 0.03997309 -0.17433241 -0.02677812
+v 0.03997309 -0.17462859 -0.02328918
+v 0.03997309 -0.17519583 -0.01679127
+v 0.03997309 -0.17794255 0.00928291
+v 0.03997309 -0.18020306 0.02594830
+v 0.08639091 -0.18610146 0.02594828
+v 0.08467653 -0.18423199 -0.02677816
+v 0.08761843 -0.17997375 -0.02677814
+v 0.07801581 -0.17073929 0.00835392
+v 0.07811940 -0.17073932 0.01571374
+v 0.03997309 -0.18710435 -0.02677817
+v 0.07802617 -0.17073929 0.00921067
+v 0.03997309 -0.19899633 0.02594823
+v 0.08495104 -0.18685587 0.02594827
+v 0.08026368 -0.18598390 -0.02677816
+v 0.03997309 -0.19682521 0.00036951
+v 0.04079143 -0.18710714 -0.02677817
+v 0.04172891 -0.19896839 0.02594823
+v 0.03997309 -0.19928130 0.01571364
+v 0.08026368 -0.18857426 0.02594827
+v 0.07384122 -0.18687523 -0.02677817
+v 0.04172891 -0.19923939 0.01571364
+v 0.04172891 -0.19848215 0.00921057
+v 0.03997309 -0.19814125 0.00746094
+v 0.04815655 -0.18711273 -0.02677817
+v 0.05457901 -0.18711273 -0.02677817
+v 0.06100147 -0.18709596 -0.02677817
+v 0.06741876 -0.18703729 -0.02677817
+v 0.04454132 -0.19832294 0.02594823
+v 0.03997309 -0.19837318 0.00913316
+v 0.04655093 -0.19784796 0.02594823
+f 1 2 3
+f 1 3 7
+f 1 7 17
+f 1 17 20
+f 1 20 18
+f 1 18 8
+f 1 8 4
+f 1 4 13
+f 1 13 21
+f 1 21 26
+f 1 26 37
+f 1 37 39
+f 1 39 28
+f 1 28 22
+f 1 22 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 16
+f 3 16 15
+f 3 15 23
+f 3 23 29
+f 3 29 36
+f 3 36 35
+f 3 35 34
+f 3 34 33
+f 3 33 25
+f 3 25 19
+f 3 19 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 9 17
+f 8 18 9
+f 9 19 24
+f 9 24 32
+f 9 32 38
+f 9 38 27
+f 9 27 21
+f 9 21 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 18 20
+f 9 20 17
+f 14 22 15
+f 15 22 23
+f 19 25 24
+f 21 27 26
+f 22 28 23
+f 23 28 30
+f 23 30 31
+f 23 31 29
+f 24 31 32
+f 24 25 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 29
+f 24 29 31
+f 26 30 37
+f 26 27 30
+f 27 38 31
+f 27 31 30
+f 28 39 30
+f 30 39 37
+f 31 38 32
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_27.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4885a5d392f169cabbec8acc2b2267c752c19375
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03997112 -0.18417608 -0.13400807
+v 0.03530409 -0.18408057 -0.13400807
+v 0.03530409 -0.18360305 -0.13868316
+v 0.03997112 -0.18367467 -0.13881488
+v 0.03997112 -0.16798257 -0.13400801
+v 0.03513131 -0.18406864 -0.13400807
+v 0.03161092 -0.18342398 -0.13784083
+v 0.03530409 -0.18282709 -0.14193378
+v 0.03997112 -0.18345979 -0.13970437
+v 0.03997112 -0.12320419 -0.13842277
+v 0.03356844 -0.12320420 -0.13636084
+v 0.02888374 -0.12320420 -0.13530387
+v 0.03067044 -0.15134737 -0.13400795
+v 0.03108472 -0.18360903 -0.13400806
+v 0.02789025 -0.18214667 -0.13400806
+v 0.02923519 -0.18151991 -0.14013366
+v 0.03997112 -0.18280918 -0.14206549
+v 0.02888374 -0.17845191 -0.14558603
+v 0.03530802 -0.17906072 -0.14741379
+v 0.03997112 -0.17949645 -0.14698287
+v 0.03997112 -0.12320415 -0.15055524
+v 0.02751524 -0.12320420 -0.13552014
+v 0.02369837 -0.15288733 -0.13400795
+v 0.02541635 -0.15161597 -0.13400795
+v 0.02886018 -0.14908517 -0.13400794
+v 0.02775478 -0.18204519 -0.13400806
+v 0.02454853 -0.17808781 -0.14032065
+v 0.02525339 -0.17722232 -0.14418430
+v 0.03316987 -0.17604047 -0.14997655
+v 0.03745207 -0.17682835 -0.15014241
+v 0.03997112 -0.17849964 -0.14818457
+v 0.03737549 -0.12320415 -0.15058451
+v 0.03997112 -0.13239022 -0.15056342
+v 0.02461332 -0.12320420 -0.13601285
+v 0.02077878 -0.16017531 -0.13400798
+v 0.02386133 -0.17886976 -0.13400805
+v 0.02101635 -0.17342617 -0.13400803
+v 0.02236325 -0.17342614 -0.14032064
+v 0.02448177 -0.17342613 -0.14521038
+v 0.02914684 -0.17368873 -0.14872605
+v 0.03530802 -0.17368873 -0.15029688
+v 0.03146170 -0.17167723 -0.15023671
+v 0.03997112 -0.17682835 -0.15014566
+v 0.03997112 -0.14071677 -0.15056994
+v 0.03530409 -0.12320415 -0.15060566
+v 0.02356093 -0.12320419 -0.13894475
+v 0.01995218 -0.16594719 -0.13400800
+v 0.02098297 -0.17323516 -0.13400803
+v 0.02125785 -0.16688427 -0.14032061
+v 0.02388293 -0.16688425 -0.14597950
+v 0.02783724 -0.16688424 -0.14923174
+v 0.03530409 -0.16688424 -0.15054564
+v 0.03997112 -0.17163544 -0.15037980
+v 0.03997112 -0.17349773 -0.15031151
+v 0.03104742 -0.16688424 -0.15034239
+v 0.03997112 -0.14725863 -0.15056347
+v 0.03530409 -0.14725863 -0.15061874
+v 0.03530409 -0.13417491 -0.15061220
+v 0.03228437 -0.12320415 -0.15043816
+v 0.02307793 -0.12320418 -0.14032045
+v 0.01991488 -0.16664555 -0.13400800
+v 0.02389864 -0.16034238 -0.14606241
+v 0.02413621 -0.12320416 -0.14607365
+v 0.02761341 -0.15380051 -0.14933251
+v 0.02768409 -0.16034237 -0.14931303
+v 0.03530409 -0.16034237 -0.15057977
+v 0.03997112 -0.15380051 -0.15052609
+v 0.03997112 -0.16688424 -0.15044320
+v 0.03089427 -0.16034237 -0.15036676
+v 0.03530409 -0.15380051 -0.15060577
+v 0.03082359 -0.15380051 -0.15036835
+v 0.03081181 -0.14725863 -0.15036671
+v 0.03084519 -0.12320415 -0.15035685
+v 0.02524947 -0.12320416 -0.14712087
+v 0.02763501 -0.12320415 -0.14932427
+v 0.03083733 -0.12763303 -0.15035850
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 20
+f 1 20 31
+f 1 31 43
+f 1 43 54
+f 1 54 53
+f 1 53 68
+f 1 68 67
+f 1 67 56
+f 1 56 44
+f 1 44 33
+f 1 33 21
+f 1 21 10
+f 1 10 5
+f 1 5 13
+f 1 13 25
+f 1 25 24
+f 1 24 23
+f 1 23 35
+f 1 35 47
+f 1 47 61
+f 1 61 48
+f 1 48 37
+f 1 37 36
+f 1 36 26
+f 1 26 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 14 7
+f 7 15 16
+f 7 16 8
+f 7 14 15
+f 8 17 9
+f 8 16 18
+f 8 18 19
+f 8 19 20
+f 8 20 17
+f 10 21 32
+f 10 32 45
+f 10 45 59
+f 10 59 73
+f 10 73 75
+f 10 75 74
+f 10 74 63
+f 10 63 60
+f 10 60 46
+f 10 46 34
+f 10 34 22
+f 10 22 12
+f 10 12 11
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 20
+f 21 33 32
+f 22 34 23
+f 23 34 35
+f 26 36 27
+f 27 37 38
+f 27 38 28
+f 27 36 37
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 41 30
+f 29 40 42
+f 29 42 41
+f 30 41 43
+f 30 43 31
+f 32 33 44
+f 32 44 45
+f 34 46 47
+f 34 47 35
+f 37 48 38
+f 38 48 49
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 40 51 42
+f 41 42 52
+f 41 52 53
+f 41 53 54
+f 41 54 43
+f 42 51 55
+f 42 55 52
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 45 58 59
+f 46 60 47
+f 47 60 61
+f 48 61 49
+f 49 62 50
+f 49 61 63
+f 49 63 62
+f 50 62 64
+f 50 64 65
+f 50 65 51
+f 51 65 55
+f 52 55 66
+f 52 66 56
+f 52 56 67
+f 52 67 68
+f 52 68 53
+f 55 65 69
+f 55 69 66
+f 56 66 70
+f 56 70 57
+f 57 71 72
+f 57 72 59
+f 57 59 58
+f 57 70 69
+f 57 69 71
+f 59 72 73
+f 60 63 61
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+f 62 74 75
+f 62 75 64
+f 64 75 72
+f 64 72 71
+f 64 71 69
+f 64 69 65
+f 66 69 70
+f 72 75 76
+f 72 76 73
+f 73 76 75
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_28.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a84f0a5b71e9117594f9245fd3dbc15e8b4a675
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_28.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07741920 0.17043254 -0.02677685
+v 0.07726396 0.10804702 0.05154426
+v 0.07722024 0.11454145 0.05154428
+v 0.07719838 0.12098760 0.05154430
+v 0.07718089 0.12753033 0.05154433
+v 0.07722899 0.13407305 0.05154435
+v 0.07811008 0.17043238 0.01571110
+v 0.08993375 0.17043254 -0.02677685
+v 0.07877691 0.04711065 -0.02677731
+v 0.07726615 0.10791423 0.05154426
+v 0.07781055 0.14062785 0.05154438
+v 0.07847738 0.17043235 0.02414429
+v 0.07834401 0.17043236 0.02221232
+v 0.07815599 0.17043238 0.01703741
+v 0.09872718 0.17043231 0.03521476
+v 0.09384729 0.13407328 -0.01028627
+v 0.09406811 0.12753056 -0.01028629
+v 0.08996218 0.16678696 -0.02677687
+v 0.09008024 0.04711065 -0.02677731
+v 0.07925572 0.04711047 0.02221186
+v 0.07744106 0.10160087 0.05154423
+v 0.08573381 0.17043225 0.05154449
+v 0.07961865 0.17043232 0.03163449
+v 0.07893433 0.17043234 0.02858321
+v 0.09919943 0.17043229 0.04171599
+v 0.09946616 0.14061582 0.04171588
+v 0.09406374 0.12098783 -0.01028632
+v 0.09009991 0.11778896 -0.02677705
+v 0.09699342 0.04711042 0.03521430
+v 0.09402001 0.11444512 -0.01028634
+v 0.07927977 0.04711046 0.02411316
+v 0.07745418 0.10137150 0.05154423
+v 0.07934317 0.04711044 0.02871308
+v 0.09924097 0.17043225 0.05154449
+v 0.09924315 0.17043226 0.04821721
+v 0.09951426 0.14061578 0.05154438
+v 0.09948583 0.10791423 0.05154426
+v 0.09947709 0.10137150 0.05154423
+v 0.09944867 0.10137151 0.04821695
+v 0.09938089 0.10137154 0.04171573
+v 0.09748753 0.04711040 0.04171553
+v 0.07971266 0.04711044 0.03061438
+v 0.08061124 0.04711042 0.03521430
+v 0.08595463 0.04711036 0.05154403
+v 0.09762964 0.04711036 0.05154403
+v 0.09760777 0.04711037 0.04821675
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 24
+f 1 24 23
+f 1 23 22
+f 1 22 34
+f 1 34 35
+f 1 35 25
+f 1 25 15
+f 1 15 8
+f 1 8 18
+f 1 18 28
+f 1 28 19
+f 1 19 9
+f 1 9 2
+f 2 9 10
+f 2 10 21
+f 2 21 32
+f 2 32 44
+f 2 44 45
+f 2 45 38
+f 2 38 37
+f 2 37 36
+f 2 36 34
+f 2 34 22
+f 2 22 11
+f 2 11 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 29
+f 9 29 41
+f 9 41 46
+f 9 46 45
+f 9 45 44
+f 9 44 43
+f 9 43 42
+f 9 42 33
+f 9 33 31
+f 9 31 20
+f 9 20 21
+f 9 21 10
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 15 25 26
+f 15 26 17
+f 15 17 16
+f 17 26 27
+f 17 27 19
+f 17 19 28
+f 17 28 18
+f 19 27 30
+f 19 30 29
+f 20 31 21
+f 21 31 33
+f 21 33 32
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 30
+f 29 30 40
+f 29 40 41
+f 32 33 42
+f 32 42 43
+f 32 43 44
+f 34 36 35
+f 38 45 46
+f 38 46 39
+f 39 46 40
+f 40 46 41
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_29.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6df00a1204d71742a10939f2b53d878f1ab2c686
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_29.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.08995466 0.16441321 -0.13339539
+v -0.07507923 0.16441321 -0.13339539
+v -0.08995613 0.16410733 -0.13339539
+v -0.09002078 0.16441283 -0.02979943
+v -0.07792559 0.16441285 -0.03641715
+v -0.07881462 -0.00005554 -0.02906473
+v -0.07838553 -0.00005516 -0.13339599
+v -0.08996641 0.16024355 -0.13339540
+v -0.09006193 0.15369083 -0.02906417
+v -0.09004282 0.15950261 -0.02906414
+v -0.09003988 0.16024317 -0.02906414
+v -0.09002078 0.16441283 -0.02906413
+v -0.07822389 0.16441283 -0.02906413
+v -0.09000315 -0.00005554 -0.02906473
+v -0.09002372 -0.00005516 -0.13339599
+v -0.08999433 0.13406642 -0.13339550
+v -0.09009132 0.13332548 -0.02906424
+v -0.09008397 0.13987780 -0.02906422
+v -0.09007515 0.14641405 -0.02906419
+v -0.09006340 0.15296637 -0.02906417
+v -0.09002813 0.01631724 -0.02906467
+v -0.09003548 0.02285347 -0.02906465
+v -0.09002666 0.06168488 -0.13339576
+v -0.09000021 0.12753018 -0.13339552
+v -0.09001931 0.09481682 -0.13339564
+v -0.09002225 0.08826449 -0.13339567
+v -0.09002519 0.08132577 -0.13339569
+v -0.09002666 0.06865578 -0.13339574
+f 1 2 7
+f 1 7 15
+f 1 15 23
+f 1 23 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 20
+f 6 20 19
+f 6 19 18
+f 6 18 17
+f 6 17 22
+f 6 22 21
+f 6 21 14
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 14 21 15
+f 15 21 22
+f 15 22 17
+f 15 17 23
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 23
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_3.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac1483318656a4085a7679f44131a42f41e3832
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_3.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.09002192 0.16441283 -0.02906412
+v -0.07822188 0.16441283 -0.02906412
+v -0.09001220 0.16605446 -0.02906411
+v -0.08994902 0.17008888 -0.11273450
+v -0.08996359 0.16679005 -0.10780501
+v -0.08995387 0.16441321 -0.13380988
+v -0.04037235 0.17342741 -0.03488660
+v -0.04037235 0.17404051 -0.02906408
+v -0.04037235 0.16441323 -0.13841788
+v -0.09000733 0.16678976 -0.02906411
+v -0.09000733 0.16678976 -0.02980235
+v -0.08955536 0.17269463 -0.11466342
+v -0.08941928 0.17333219 -0.12080740
+v -0.08930750 0.17333224 -0.13380984
+v -0.08994416 0.16976457 -0.11706864
+v -0.08995387 0.17011548 -0.09480257
+v -0.08996846 0.17029962 -0.02980233
+v -0.08996846 0.17030629 -0.02906409
+v -0.08966228 0.17320969 -0.02906408
+v -0.08962339 0.17357623 -0.02906408
+v -0.08962339 0.17357178 -0.02980232
+v -0.08991985 0.16766094 -0.13380986
+v -0.08990042 0.16441323 -0.13754867
+v -0.04037235 0.18680262 -0.02906403
+v -0.04037235 0.16441327 -0.15069398
+v -0.08997331 0.16990642 -0.02906410
+v -0.08946787 0.17337659 -0.10780498
+v -0.08735864 0.17987399 -0.02906406
+v -0.08735379 0.17987399 -0.02980230
+v -0.08644983 0.17987430 -0.11430618
+v -0.08636721 0.17987432 -0.12080738
+v -0.08627001 0.17987435 -0.12730861
+v -0.08563335 0.18052302 -0.13428610
+v -0.08576457 0.17934125 -0.14031103
+v -0.08878262 0.17333227 -0.14031105
+v -0.08964769 0.16642584 -0.13969191
+v -0.08673170 0.17987420 -0.08831322
+v -0.08963312 0.16441323 -0.13991816
+v -0.04037235 0.18487916 -0.10922187
+v -0.06746188 0.18609195 -0.08181199
+v -0.04053273 0.18680483 -0.02906403
+v -0.08031167 0.16441327 -0.15065827
+v -0.04037235 0.16679020 -0.15070588
+v -0.08479743 0.18343271 -0.02906405
+v -0.08446209 0.18388144 -0.02980228
+v -0.08362132 0.18321981 -0.12730860
+v -0.08408788 0.18358171 -0.07531079
+v -0.08357272 0.18318207 -0.13244051
+v -0.08349982 0.18313766 -0.13677465
+v -0.08479257 0.17807948 -0.14538341
+v -0.08562363 0.17331897 -0.14726473
+v -0.08689209 0.16679019 -0.14681230
+v -0.08787381 0.16441325 -0.14447854
+v -0.04037235 0.18475477 -0.11430616
+v -0.06746188 0.18593425 -0.08831320
+v -0.07388678 0.18538344 -0.11430616
+v -0.07388678 0.18553225 -0.10780494
+v -0.07388678 0.18596979 -0.08831320
+v -0.07388678 0.18611194 -0.08181199
+v -0.06746188 0.18710695 -0.02906403
+v -0.06104671 0.18704253 -0.02906403
+v -0.05462181 0.18697144 -0.02906403
+v -0.04819692 0.18689591 -0.02906403
+v -0.04177688 0.18682039 -0.02906403
+v -0.08031167 0.16679020 -0.15067017
+v -0.08404414 0.16441327 -0.15036059
+v -0.04037235 0.17191726 -0.15052726
+v -0.08446696 0.18388589 -0.02906404
+v -0.08031167 0.18572967 -0.02906404
+v -0.08031167 0.18519444 -0.06880956
+v -0.08031167 0.18510117 -0.07531078
+v -0.08031167 0.18431939 -0.12080736
+v -0.08031167 0.18418613 -0.12730859
+v -0.08093861 0.18385516 -0.13428608
+v -0.07887798 0.18360861 -0.14031102
+v -0.07735194 0.18321987 -0.14369261
+v -0.08209042 0.18261119 -0.14031102
+v -0.08031167 0.18499012 -0.08181199
+v -0.07962156 0.17958119 -0.14670508
+v -0.08189117 0.17549154 -0.14971757
+v -0.08385459 0.17112866 -0.15025340
+v -0.08402955 0.16679020 -0.15036058
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_30.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665222b2e76d74e6209e4bf192d52bbc13975cb0
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.04037235 -0.18495300 -0.13240136
+v -0.04037235 -0.17184432 -0.12738811
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+v -0.04132076 -0.18391660 -0.14052611
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+v -0.04037235 -0.16217964 -0.15101974
+v -0.08980594 -0.16217972 -0.12738808
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_31.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccff9c68b6458bbee7ea21a8ea163c94c1eedfd
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_31.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_32.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e206688637c0f6bf9073e35b1b331fff542f727a
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_32.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.09224422 -0.17099756 0.02546329
+v -0.09222390 -0.17239679 0.02546329
+v -0.07810334 -0.17099756 0.02546329
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+v -0.07736710 -0.17099753 0.01571155
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+f 4 40 38
+f 4 38 26
+f 4 26 20
+f 4 20 18
+f 4 18 13
+f 4 13 5
+f 5 13 14
+f 6 11 15
+f 7 16 22
+f 7 22 31
+f 7 31 37
+f 7 37 24
+f 7 24 17
+f 7 17 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 11 12 15
+f 13 18 14
+f 14 18 20
+f 14 20 19
+f 16 21 22
+f 17 24 23
+f 19 20 25
+f 20 26 27
+f 20 27 25
+f 21 28 22
+f 22 29 30
+f 22 30 31
+f 22 28 29
+f 23 24 32
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 32
+f 24 37 30
+f 24 30 33
+f 26 38 27
+f 27 38 40
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+f 28 41 29
+f 29 41 39
+f 29 39 42
+f 29 42 30
+f 30 37 31
+f 30 42 43
+f 30 43 33
+f 39 40 42
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_33.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e472c6edada834afcfb24eaf90e9fd9528c40589
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_33.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00012118 -0.19846910 0.05472404
+v -0.03534834 -0.19833587 0.06772552
+v -0.03534834 -0.19902642 0.06122605
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+v -0.03762195 -0.19941812 0.05242305
+v -0.00012118 -0.19842063 0.05242305
+v -0.00012118 -0.19743123 0.06052631
+v -0.04037234 -0.19927277 0.05614141
+v -0.03035191 -0.19677298 0.07158690
+v -0.03534834 -0.19707992 0.07196487
+v -0.03945817 -0.19688202 0.07168139
+v -0.04037234 -0.19933736 0.05472404
+v -0.04037234 -0.19943024 0.05242305
+v -0.00012118 -0.17842203 0.05242312
+v -0.00012118 -0.19595314 0.06377733
+v -0.04032900 -0.19734644 0.06772553
+v -0.04037234 -0.19736259 0.06756209
+v -0.03534834 -0.19305760 0.07499626
+v -0.00012118 -0.19296469 0.06772554
+v -0.00012118 -0.19006506 0.07128301
+v -0.00012118 -0.18852237 0.07286128
+v -0.00012118 -0.18687870 0.07453403
+v -0.00012118 -0.18529159 0.07609443
+v -0.00012118 -0.18360754 0.07773909
+v -0.04037234 -0.19733030 0.06768211
+v -0.04037234 -0.18801757 0.07647493
+v -0.04037234 -0.19524241 0.07223556
+v -0.04037234 -0.19645799 0.07079521
+v -0.04037234 -0.17845433 0.05242312
+v -0.00966088 -0.16034576 0.05265304
+v -0.00966088 -0.15817305 0.05268113
+v -0.00536979 -0.15817305 0.05269646
+v -0.00323410 -0.16034576 0.05267602
+v -0.00012118 -0.16034576 0.05269389
+v -0.03534834 -0.18871219 0.07725640
+v -0.03534834 -0.18544102 0.07789486
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+v -0.04037234 -0.18474640 0.07782336
+v -0.04037234 -0.16034576 0.05269134
+v -0.01179264 -0.15817305 0.05268113
+v -0.00012118 -0.15817305 0.05272711
+v -0.03534834 -0.17996887 0.07851291
+v -0.00012118 -0.17574057 0.07806600
+v -0.04037234 -0.18355505 0.07795617
+v -0.04037234 -0.15817305 0.05275009
+v -0.00012118 -0.15817310 0.06569794
+v -0.04037234 -0.17996887 0.07834181
+v -0.02892549 -0.17562346 0.07811197
+v -0.03534834 -0.17557499 0.07809410
+v -0.04037234 -0.17578904 0.07799449
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+v -0.02037089 -0.15817310 0.06594821
+v -0.02250264 -0.15817310 0.06596609
+v -0.03534834 -0.15817310 0.06607335
+v -0.04037234 -0.15817310 0.06601716
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 34
+f 1 34 41
+f 1 41 46
+f 1 46 43
+f 1 43 37
+f 1 37 24
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+f 1 15 7
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+f 43 51 52
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+f 43 54 48
+f 48 54 49
+f 49 54 55
+f 49 55 50
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_34.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0a54267b7ef815a960d37bc5bb8b761d0a879
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 -0.00051154 0.07204511
+v -0.04037234 -0.00051151 0.06351182
+v -0.04037234 0.00323545 0.07205210
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+v -0.04037234 0.05045079 0.07209414
+v -0.07689255 0.10134745 0.05408347
+v -0.06104186 0.10790469 0.05284386
+v -0.05462152 0.10790469 0.05260198
+v -0.04177367 0.10134746 0.05239728
+v -0.04037234 0.10134746 0.05237170
+v -0.07689255 0.02634186 0.07601300
+v -0.04037234 0.05699158 0.07208719
+v -0.04037234 0.06211904 0.07208023
+v -0.07689255 0.10790468 0.05393930
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+v -0.06104186 0.15369025 0.05248818
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+v -0.07689255 0.16736347 0.05471400
+v -0.07445095 0.16736347 0.05412093
+v -0.06746579 0.16736348 0.05298129
+f 1 2 9
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+f 1 23 31
+f 1 31 44
+f 1 44 57
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+f 1 58 48
+f 1 48 34
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+f 1 26 24
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+f 43 57 44
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+f 60 62 61
+f 62 66 67
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_35.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60c2de52767167d247f8b0f35ca4811fbab1223
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.08031324 -0.13416968 -0.15091578
+v -0.07706465 -0.13416968 -0.15089193
+v -0.08031324 -0.14070797 -0.15090389
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+v -0.08418108 -0.00005510 -0.15045012
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+v -0.07706465 -0.07860996 -0.15086787
+v -0.07706465 -0.14070797 -0.15086810
+v -0.08031324 -0.15380045 -0.15085621
+v -0.08419504 -0.16033875 -0.15043879
+v -0.08421534 -0.15380045 -0.15045068
+v -0.08423438 -0.14724627 -0.15046259
+v -0.08709465 -0.14070798 -0.14681278
+v -0.08710861 -0.13416969 -0.14681275
+v -0.08723932 -0.04912412 -0.14681244
+v -0.08724693 -0.04258582 -0.14681242
+v -0.08724947 -0.00005511 -0.14681226
+v -0.08421915 -0.04258581 -0.15045028
+v -0.07706465 -0.00005510 -0.15080794
+v -0.07706465 -0.14724627 -0.15083234
+v -0.08031324 -0.16033875 -0.15083239
+v -0.08031324 -0.16217964 -0.15082047
+v -0.08417601 -0.16217964 -0.15042687
+v -0.08495643 -0.16217964 -0.14942497
+v -0.08699314 -0.16033876 -0.14681285
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+v -0.08706674 -0.14724628 -0.14681280
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+f 51 71 52
+f 52 71 53
+f 57 72 58
+f 58 72 73
+f 58 73 75
+f 58 75 74
+f 58 74 64
+f 60 67 68
+f 64 74 65
+f 65 74 75
+f 65 75 76
+f 65 76 77
+f 65 77 66
+f 66 77 78
+f 66 78 79
+f 66 79 80
+f 66 80 81
+f 66 81 67
+f 67 82 68
+f 68 70 83
+f 68 83 69
+f 68 82 70
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_36.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e113420149012d7e8b08751884364dd90d6b76ba
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_36.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.07877832 0.04711065 -0.02677731
+v 0.07925576 0.04711047 0.02221612
+v 0.09007997 0.04711065 -0.02677731
+v 0.07759452 -0.17073637 -0.02677811
+v 0.07716722 -0.11452632 0.05151350
+v 0.07721082 -0.10800115 0.05151352
+v 0.07927974 0.04711046 0.02410904
+v 0.09699526 0.04711042 0.03521360
+v 0.09932361 -0.10145462 0.04171946
+v 0.09371420 -0.12761910 -0.01028587
+v 0.09009959 0.03591549 -0.02677735
+v 0.08962651 -0.17073637 -0.02677811
+v 0.07802836 -0.17073650 0.00921785
+v 0.07737215 -0.13416583 0.05151343
+v 0.07736561 -0.13388861 0.05151343
+v 0.07721519 -0.12094488 0.05151348
+v 0.07732419 -0.10145466 0.05151355
+v 0.07934297 0.04711044 0.02871486
+v 0.09748797 0.04711040 0.04172000
+v 0.09940427 -0.10145465 0.04821820
+v 0.09940427 -0.10800114 0.04821817
+v 0.09931271 -0.13416579 0.04171934
+v 0.09760569 0.04711037 0.04821874
+v 0.09833384 -0.17073660 0.03521280
+v 0.09365316 -0.13416560 -0.01028589
+v 0.09022822 -0.13111619 -0.02677796
+v 0.09025438 -0.12761904 -0.02677795
+v 0.09026092 -0.12459101 -0.02677794
+v 0.09026746 -0.12107254 -0.02677792
+v 0.09022386 -0.04257852 -0.02677764
+v 0.09021950 -0.03605335 -0.02677761
+v 0.09021078 -0.02950685 -0.02677759
+v 0.09020642 -0.02645750 -0.02677758
+v 0.08976386 -0.16687671 -0.02677809
+v 0.07810684 -0.17073652 0.01460536
+v 0.07770135 -0.14037113 0.05151340
+v 0.07812429 -0.17073653 0.01570892
+v 0.08596394 0.04711036 0.05151409
+v 0.08061179 0.04711042 0.03521360
+v 0.07971358 0.04711044 0.03061544
+v 0.09943916 -0.10145466 0.05151355
+v 0.09943697 -0.10800115 0.05151352
+v 0.09940209 -0.11452631 0.04821815
+v 0.09938466 -0.12761932 0.04821810
+v 0.09937157 -0.13416582 0.04821808
+v 0.09934105 -0.14071233 0.05151340
+v 0.09931053 -0.14071232 0.04821805
+v 0.09923205 -0.14071229 0.04171931
+v 0.09939556 -0.12107282 0.04821813
+v 0.09762968 0.04711036 0.05151409
+v 0.09854095 -0.17073662 0.04171920
+v 0.09016500 -0.13766269 -0.02677799
+v 0.07773187 -0.14071233 0.05151340
+v 0.07837064 -0.17073655 0.02221532
+v 0.09943262 -0.11452632 0.05151350
+v 0.09942389 -0.12107283 0.05151348
+v 0.09941081 -0.12761933 0.05151345
+v 0.09940427 -0.13086059 0.05151344
+v 0.09939556 -0.13416583 0.05151343
+v 0.09849735 -0.17073666 0.05151329
+v 0.09850172 -0.17073666 0.05089254
+v 0.07890694 -0.17073658 0.02859145
+v 0.08539929 -0.17073666 0.05151329
+f 1 2 7
+f 1 7 18
+f 1 18 40
+f 1 40 39
+f 1 39 38
+f 1 38 50
+f 1 50 23
+f 1 23 19
+f 1 19 8
+f 1 8 3
+f 1 3 11
+f 1 11 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 52
+f 1 52 34
+f 1 34 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 24
+f 4 24 51
+f 4 51 61
+f 4 61 60
+f 4 60 63
+f 4 63 62
+f 4 62 54
+f 4 54 37
+f 4 37 35
+f 4 35 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 14
+f 5 14 36
+f 5 36 53
+f 5 53 63
+f 5 63 60
+f 5 60 46
+f 5 46 59
+f 5 59 58
+f 5 58 57
+f 5 57 56
+f 5 56 55
+f 5 55 42
+f 5 42 41
+f 5 41 50
+f 5 50 38
+f 5 38 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 8 19 9
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 9 19 23
+f 9 23 20
+f 10 22 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 11
+f 12 34 25
+f 12 25 24
+f 13 35 14
+f 14 35 37
+f 14 37 36
+f 17 38 39
+f 17 39 40
+f 17 40 18
+f 20 41 21
+f 20 23 41
+f 21 42 43
+f 21 43 22
+f 21 41 42
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 48
+f 22 48 24
+f 22 43 49
+f 22 49 44
+f 23 50 41
+f 24 48 51
+f 25 52 26
+f 25 34 52
+f 36 37 54
+f 36 54 53
+f 42 55 43
+f 43 55 49
+f 44 49 56
+f 44 56 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 60 61
+f 46 61 51
+f 46 51 47
+f 47 51 48
+f 49 55 56
+f 53 54 62
+f 53 62 63
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_37.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b646cfbc4a8f059753caf6705f432c5278d3df4
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_37.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.07384641 0.19565566 0.04597790
+v 0.07384641 0.19564087 0.04172035
+v 0.06963936 0.19565320 0.04597790
+v 0.07606481 0.19561369 0.04597790
+v 0.08026827 0.19551989 0.04172035
+v 0.07384641 0.19489031 0.03522052
+v 0.06742455 0.19559396 0.04172035
+v 0.06321749 0.19561616 0.04597790
+v 0.08026827 0.19481377 0.03522052
+v 0.08026827 0.19549764 0.04597790
+v 0.08669013 0.19433229 0.04172034
+v 0.08669013 0.19378173 0.03522051
+v 0.07384641 0.19192505 0.02953912
+v 0.06742455 0.19184604 0.02944154
+v 0.06257854 0.19178926 0.02941963
+v 0.06742455 0.19477920 0.03522052
+v 0.06257854 0.19534459 0.04012128
+v 0.06257854 0.19554705 0.04172035
+v 0.06257854 0.19560875 0.04597790
+v 0.08026827 0.19189049 0.03000111
+v 0.08669013 0.19143619 0.03065428
+v 0.08248308 0.19508533 0.04597790
+v 0.08669013 0.19427055 0.04597789
+v 0.09208895 0.19148306 0.04172033
+v 0.09190229 0.19128556 0.03522050
+v 0.09108744 0.19060166 0.03126962
+v 0.07384641 0.18899930 0.02563403
+v 0.06742455 0.18908571 0.02563403
+v 0.06257854 0.18910546 0.02563403
+v 0.06257854 0.19469032 0.03522052
+v 0.06257854 0.18066631 0.04597784
+v 0.08026827 0.18833020 0.02563403
+v 0.09204228 0.19144106 0.04597788
+v 0.09315148 0.19032755 0.04597788
+v 0.09529808 0.18825359 0.04172032
+v 0.09511143 0.18806597 0.03522049
+v 0.09675907 0.18409828 0.03146077
+v 0.08639579 0.18591057 0.02563402
+v 0.06257854 0.17854057 0.02563400
+v 0.06257854 0.17882202 0.02872062
+v 0.07893652 0.17043234 0.02858518
+v 0.07961855 0.17043232 0.03163795
+v 0.08074211 0.17043231 0.03522043
+v 0.08157490 0.17043230 0.03698478
+v 0.08269487 0.17043230 0.03935053
+v 0.08619477 0.17043227 0.04597781
+v 0.09525142 0.18820914 0.04597787
+v 0.09726520 0.18493769 0.04597786
+v 0.09727239 0.18498216 0.04172031
+v 0.09712522 0.18479453 0.03522048
+v 0.09837799 0.17987627 0.03522046
+v 0.09718982 0.17987629 0.03098680
+v 0.09190947 0.17892821 0.02563400
+v 0.08749063 0.18452546 0.02563402
+v 0.06257854 0.17860970 0.02639470
+v 0.07863140 0.17043235 0.02563397
+v 0.09922515 0.17043227 0.04597781
+v 0.09873696 0.17987623 0.04597784
+v 0.09872619 0.17987625 0.04172029
+v 0.09922156 0.17333337 0.04172027
+v 0.09878363 0.17333339 0.03522044
+v 0.09290380 0.17333343 0.02563398
+v 0.09735136 0.17333341 0.03081552
+v 0.09289662 0.17043235 0.02563397
+v 0.09922156 0.17043227 0.04534058
+v 0.09923234 0.17107421 0.04597781
+v 0.09924669 0.17333335 0.04597782
+v 0.09920003 0.17043229 0.04172026
+v 0.09872619 0.17043231 0.03522043
+v 0.09290021 0.17097059 0.02563397
+v 0.09730469 0.17043233 0.03085932
+f 1 2 3
+f 1 3 8
+f 1 8 19
+f 1 19 31
+f 1 31 46
+f 1 46 57
+f 1 57 66
+f 1 66 67
+f 1 67 58
+f 1 58 48
+f 1 48 47
+f 1 47 34
+f 1 34 33
+f 1 33 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 6 9 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 7 18 8
+f 8 18 19
+f 9 20 13
+f 9 12 21
+f 9 21 20
+f 10 22 11
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 22 23
+f 12 25 26
+f 12 26 21
+f 13 20 27
+f 13 27 28
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+f 13 29 14
+f 14 29 15
+f 15 30 16
+f 15 29 39
+f 15 39 55
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+f 15 31 19
+f 15 19 18
+f 15 18 17
+f 15 17 30
+f 16 30 17
+f 20 32 27
+f 20 21 32
+f 21 26 32
+f 23 33 24
+f 24 33 34
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+f 24 36 25
+f 25 36 26
+f 26 36 37
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+f 26 38 32
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+f 27 38 54
+f 27 54 53
+f 27 53 62
+f 27 62 70
+f 27 70 64
+f 27 64 56
+f 27 56 39
+f 27 39 29
+f 27 29 28
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
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+f 31 45 46
+f 34 47 35
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+f 35 48 49
+f 35 49 50
+f 35 50 36
+f 36 50 37
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 39 56 41
+f 39 41 55
+f 40 55 41
+f 41 56 64
+f 41 64 71
+f 41 71 69
+f 41 69 68
+f 41 68 65
+f 41 65 57
+f 41 57 46
+f 41 46 45
+f 41 45 44
+f 41 44 43
+f 41 43 42
+f 48 58 49
+f 49 58 59
+f 49 59 50
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 52
+f 52 62 53
+f 52 61 63
+f 52 63 62
+f 57 65 66
+f 58 67 59
+f 59 67 60
+f 60 67 66
+f 60 66 68
+f 60 68 61
+f 61 68 69
+f 61 69 63
+f 62 63 70
+f 63 69 71
+f 63 71 64
+f 63 64 70
+f 65 68 66
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_38.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c309eeb38a5bb32d90c4ff3ac64eec5f9e24b24
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_38.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06753774 -0.17073670 0.06336905
+v 0.04815209 -0.17073672 0.06849319
+v 0.06753774 -0.17073666 0.05227397
+v 0.06753774 0.04711033 0.06101126
+v 0.04172978 -0.17073673 0.06961708
+v 0.06741901 -0.17073666 0.05226878
+v 0.06753774 -0.16687700 0.05218221
+v 0.06753774 0.04711036 0.05236828
+v 0.03997309 0.04711032 0.06291961
+v 0.03997309 -0.17073673 0.06979718
+v 0.04159485 -0.17073673 0.06963093
+v 0.06477453 -0.17073666 0.05225838
+v 0.06741901 -0.16687700 0.05217875
+v 0.04815209 -0.00986764 0.05213949
+v 0.04815209 0.04711036 0.05219338
+v 0.03997309 0.04711036 0.05221762
+v 0.03997309 -0.17073666 0.05264629
+v 0.04172978 -0.17073666 0.05260992
+v 0.05457439 -0.16687700 0.05222377
+v 0.06099670 -0.16687700 0.05215623
+v 0.06099670 -0.16033050 0.05214240
+v 0.04815209 -0.04912531 0.05211857
+v 0.04815209 -0.04257881 0.05212205
+v 0.04172978 0.04711036 0.05218472
+v 0.03997309 0.04246170 0.05221415
+v 0.04100659 -0.17073666 0.05262378
+v 0.03997309 -0.16687700 0.05249392
+v 0.04815209 -0.16687700 0.05232594
+v 0.05457439 -0.16033050 0.05211989
+v 0.05457439 -0.15378400 0.05210953
+v 0.04815209 -0.05567181 0.05211681
+v 0.04172978 -0.04257881 0.05214110
+v 0.03997309 0.03591520 0.05221066
+v 0.04172978 -0.16687700 0.05245755
+v 0.03997309 -0.16033050 0.05242293
+v 0.04815209 -0.16033050 0.05222899
+v 0.04815209 -0.15378400 0.05218226
+v 0.04815209 -0.14725882 0.05213725
+v 0.04815209 -0.14071233 0.05211649
+v 0.04815209 -0.13416583 0.05210787
+v 0.03997309 -0.04733409 0.05218438
+v 0.03997309 -0.04257881 0.05218093
+v 0.04172978 -0.12761933 0.05220659
+v 0.03997309 -0.13237460 0.05229489
+v 0.04172978 -0.13416583 0.05221350
+v 0.03997309 -0.12761933 0.05228798
+f 1 2 5
+f 1 5 11
+f 1 11 10
+f 1 10 17
+f 1 17 26
+f 1 26 18
+f 1 18 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 15
+f 4 15 24
+f 4 24 16
+f 4 16 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 14 15
+f 8 13 14
+f 9 16 25
+f 9 25 33
+f 9 33 42
+f 9 42 41
+f 9 41 46
+f 9 46 44
+f 9 44 35
+f 9 35 27
+f 9 27 17
+f 9 17 10
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 29
+f 13 29 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 16 24 25
+f 17 27 26
+f 18 26 28
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 21 29 30
+f 21 30 22
+f 22 31 32
+f 22 32 24
+f 22 24 23
+f 22 30 31
+f 24 33 25
+f 24 32 33
+f 26 27 34
+f 26 34 28
+f 27 35 36
+f 27 36 34
+f 28 34 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 32 41 42
+f 32 42 33
+f 32 40 43
+f 32 43 41
+f 35 44 45
+f 35 45 38
+f 35 38 37
+f 35 37 36
+f 38 45 39
+f 39 45 40
+f 40 45 43
+f 41 43 45
+f 41 45 46
+f 44 46 45
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_39.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657612d04b7813987894b8166c223a747b5f31d0
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_39.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00012118 -0.15817310 0.06569902
+v -0.01608373 -0.15817310 0.06590348
+v -0.00012118 -0.15817305 0.05272694
+v -0.00012118 -0.09109702 0.06936317
+v -0.02037089 -0.15817310 0.06594966
+v -0.00536979 -0.15817305 0.05269726
+v -0.00012118 -0.08182683 0.05253264
+v -0.00323410 -0.09111408 0.06936317
+v -0.03534834 -0.15817310 0.06607332
+v -0.00012118 -0.06717907 0.06936325
+v -0.00966088 -0.15817305 0.05268241
+v -0.00012118 -0.07528823 0.05251782
+v -0.00407340 -0.09107994 0.06936317
+v -0.04037234 -0.15817310 0.06601891
+v -0.04037234 -0.08935567 0.06936317
+v -0.00012118 0.01623500 0.06664119
+v -0.02338923 0.01623499 0.06936356
+v -0.01179264 -0.15817305 0.05268241
+v -0.00323410 -0.07528823 0.05253266
+v -0.00323410 -0.06874964 0.05255083
+v -0.00012118 -0.07190797 0.05252774
+v -0.04037234 -0.15817305 0.05274838
+v -0.04037234 0.01623499 0.06936356
+v -0.00012118 0.01623505 0.05291885
+v -0.00966088 -0.06874964 0.05261019
+v -0.00012118 -0.06221104 0.05256404
+v -0.00012118 -0.06874964 0.05253764
+v -0.04037234 -0.10145970 0.05385501
+v -0.02250264 0.01623504 0.05389996
+v -0.02243171 0.01623504 0.05389172
+v -0.01608373 0.01623504 0.05319092
+v -0.01608373 -0.03603958 0.05284941
+v -0.04037234 0.01623501 0.06347691
+v -0.00958996 0.01623505 0.05304582
+v -0.04037234 -0.09490403 0.05407764
+v -0.02803102 0.01623503 0.05622989
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 22
+f 1 22 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 21
+f 1 21 27
+f 1 27 26
+f 1 26 24
+f 1 24 16
+f 1 16 10
+f 1 10 4
+f 1 4 2
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_4.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c77a91823b0ddd552442b20fa7a870bf69e95a
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_40.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923237635955804101426dd8bd5f914d1dcbc553
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_40.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.02903708 0.17041904 -0.03924568
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+v -0.01162454 0.17041904 -0.03924568
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+v -0.02164960 0.16033405 -0.03924572
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_41.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3617ee0d8854aceb22c406fcd20310f86f0c4528
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_41.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_42.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9827b1ec52507f0deb3a0e7c22becb1fc3a316ff
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_42.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_43.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68579fad5b00d8bba90cb3239ae8edf364b66c3d
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_43.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+f 49 72 50
+f 49 75 72
+f 51 53 52
+f 57 63 58
+f 57 76 77
+f 57 77 78
+f 57 78 63
+f 59 78 79
+f 59 79 60
+f 59 63 78
+f 60 79 80
+f 60 80 61
+f 61 80 62
+f 62 80 81
+f 62 81 64
+f 64 81 82
+f 71 73 85
+f 71 85 97
+f 71 97 84
+f 72 75 86
+f 72 86 73
+f 73 86 85
+f 74 88 89
+f 74 89 90
+f 74 90 87
+f 76 87 77
+f 77 87 78
+f 78 87 79
+f 79 87 91
+f 79 91 80
+f 80 91 81
+f 81 92 82
+f 81 91 92
+f 82 92 91
+f 83 93 94
+f 83 94 95
+f 84 97 94
+f 84 94 96
+f 87 90 91
+f 88 98 93
+f 88 93 89
+f 93 98 94
+f 94 97 99
+f 94 99 100
+f 94 100 101
+f 94 101 95
+f 94 98 96
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_44.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63774c18bcadd94284fc09abd25c54661338dbd
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_44.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00011724 0.16537757 -0.10589999
+v 0.02367560 0.17885905 -0.13122149
+v 0.02242768 0.17649455 -0.13122150
+v 0.02077949 0.17315478 -0.13122151
+v 0.02030073 0.16992790 -0.13122153
+v 0.01986906 0.16679196 -0.13122154
+v -0.00011724 0.16171165 -0.10590001
+v -0.00011724 0.16653158 -0.10353447
+v 0.02835333 0.18212983 -0.13122148
+v -0.00011724 0.16761660 -0.10130303
+v 0.02143484 0.16019081 -0.13122156
+v 0.02407980 0.15485658 -0.13122158
+v -0.00011724 0.16062974 -0.10366858
+v 0.02803154 0.18232112 -0.12731406
+v 0.03028014 0.18286991 -0.13122148
+v 0.02570445 0.18313637 -0.10441550
+v -0.00011724 0.16779534 -0.09796066
+v 0.01797756 0.18410511 -0.03339258
+v 0.01911167 0.18326162 -0.05404057
+v 0.01937852 0.18306721 -0.05837894
+v -0.00011724 0.15905861 -0.09480030
+v -0.00011724 0.15948512 -0.10130306
+v 0.02809825 0.15449594 -0.13122158
+v -0.00011724 0.15794511 -0.03339268
+v 0.02610865 0.18304231 -0.10780575
+v 0.03156338 0.18329013 -0.13122148
+v 0.02245515 0.18567621 -0.03339258
+v -0.00011724 0.16794585 -0.09480026
+v -0.00011724 0.16751288 -0.03630404
+v -0.00011724 0.16749091 -0.03339264
+v 0.02875360 0.15510119 -0.13122158
+v 0.03997308 0.17387569 -0.03339262
+v 0.01951587 0.15681932 -0.03339268
+v 0.01854266 0.15680677 -0.03339268
+v 0.03530320 0.18355041 -0.13122148
+v 0.02600269 0.18609957 -0.03339258
+v 0.02887918 0.18636926 -0.03339258
+v 0.03997308 0.17071815 -0.13122152
+v 0.03997308 0.17169325 -0.08181386
+v 0.03997308 0.17180298 -0.07708283
+v 0.03997308 0.17184689 -0.07531109
+v 0.03997308 0.17209147 -0.06880831
+v 0.03997308 0.17325794 -0.04279722
+v 0.03997308 0.17362796 -0.03630402
+v 0.03997308 0.18652919 -0.03339257
+v 0.03530320 0.18367897 -0.12731406
+v 0.03916076 0.18368212 -0.13122148
+v 0.03242672 0.18643512 -0.03339258
+v 0.03997308 0.18370094 -0.13122148
+v 0.03885074 0.18651978 -0.03339257
+v 0.03530320 0.18647902 -0.03339258
+v 0.03788145 0.18651038 -0.03339257
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 22
+f 1 22 21
+f 1 21 24
+f 1 24 30
+f 1 30 29
+f 1 29 28
+f 1 28 17
+f 1 17 10
+f 1 10 8
+f 1 8 2
+f 2 9 15
+f 2 15 26
+f 2 26 35
+f 2 35 47
+f 2 47 49
+f 2 49 38
+f 2 38 31
+f 2 31 23
+f 2 23 12
+f 2 12 11
+f 2 11 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 8 10
+f 2 10 9
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 9 10 14
+f 10 16 14
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 16
+f 12 21 22
+f 12 22 13
+f 12 23 24
+f 12 24 21
+f 14 25 15
+f 14 16 25
+f 15 25 16
+f 15 16 26
+f 16 20 19
+f 16 19 18
+f 16 18 27
+f 16 27 26
+f 17 28 18
+f 18 29 30
+f 18 30 24
+f 18 24 34
+f 18 34 33
+f 18 33 32
+f 18 32 45
+f 18 45 50
+f 18 50 52
+f 18 52 51
+f 18 51 48
+f 18 48 37
+f 18 37 36
+f 18 36 27
+f 18 28 29
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 26 27 36
+f 26 36 37
+f 26 37 35
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 43
+f 32 43 42
+f 32 42 41
+f 32 41 40
+f 32 40 39
+f 32 39 38
+f 32 38 49
+f 32 49 45
+f 35 37 46
+f 35 46 47
+f 37 48 49
+f 37 49 47
+f 37 47 46
+f 45 49 50
+f 48 51 49
+f 49 51 52
+f 49 52 50
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_45.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3518afdde3cb8d6587e4ad87bc4d3fd00ca0ad
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 0.08759238 0.05185462
+v -0.04037234 0.08759238 0.05285462
+v -0.04037234 0.11313010 0.05185462
+v -0.04037234 0.11313010 0.05285462
+v -0.01310205 0.08759238 0.05185462
+v -0.01310205 0.08759238 0.05285462
+v -0.01310205 0.11313010 0.05185462
+v -0.01310205 0.11313010 0.05285462
+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/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_46.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9147cca4873e24f2c7cfa4425a958d65bded9141
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_46.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 0.19967452 0.04822370
+v -0.04037234 0.19911462 0.05472663
+v -0.04037234 0.19966821 0.04759089
+v -0.04114808 0.19966503 0.04759089
+v -0.04177367 0.19966820 0.04822370
+v -0.04037234 0.19725784 0.06714486
+v -0.04177367 0.19900076 0.05472663
+v -0.04037234 0.17943387 0.04759082
+v -0.04177367 0.19966187 0.04759089
+v -0.07689255 0.19534108 0.04759088
+v -0.07689255 0.19534107 0.04822369
+v -0.07689255 0.19531258 0.05472662
+v -0.07689255 0.19476535 0.06122653
+v -0.04037234 0.19708703 0.06772645
+v -0.04037234 0.16736664 0.05226757
+v -0.04177367 0.17937060 0.04759082
+v -0.07689255 0.18062636 0.04759082
+v -0.07689255 0.19348427 0.06403200
+v -0.04037234 0.19446164 0.07219532
+v -0.07689255 0.19195966 0.06734675
+v -0.05462152 0.16736664 0.05239413
+v -0.04240283 0.17937693 0.04759082
+v -0.04037234 0.16736658 0.06764498
+v -0.06104186 0.16736664 0.05252672
+v -0.06160668 0.16736664 0.05256590
+v -0.06746579 0.16736664 0.05298175
+v -0.07445095 0.16736663 0.05412082
+v -0.07689255 0.16736663 0.05471445
+v -0.04037234 0.18870796 0.07582646
+v -0.07689255 0.18936907 0.07059519
+v -0.07689255 0.18580424 0.07422331
+v -0.07142310 0.18322947 0.07753503
+v -0.04037234 0.17546722 0.07811358
+v -0.07689255 0.16736656 0.07427748
+v -0.04037234 0.18775270 0.07632065
+v -0.07689255 0.18167639 0.07724876
+v -0.07570213 0.18222677 0.07735122
+v -0.07689255 0.18041748 0.07746270
+v -0.07689255 0.17859237 0.07764953
+v -0.07369310 0.17997780 0.07770377
+v -0.06746579 0.17987658 0.07789965
+v -0.06746579 0.18332436 0.07760133
+v -0.04037234 0.18519375 0.07761640
+v -0.04037234 0.17645411 0.07818591
+v -0.04177367 0.17550202 0.07810152
+v -0.07388613 0.17585312 0.07771883
+v -0.07689255 0.17482513 0.07739940
+v -0.07689255 0.16984325 0.07535931
+v -0.07689255 0.17589109 0.07765555
+v -0.06104186 0.17987658 0.07801415
+v -0.04037234 0.17987658 0.07837275
+v -0.04037234 0.18105958 0.07822510
+v -0.04037234 0.18448205 0.07773694
+f 1 2 6
+f 1 6 14
+f 1 14 19
+f 1 19 29
+f 1 29 35
+f 1 35 43
+f 1 43 53
+f 1 53 52
+f 1 52 51
+f 1 51 44
+f 1 44 33
+f 1 33 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 7 6
+f 3 8 16
+f 3 16 22
+f 3 22 17
+f 3 17 10
+f 3 10 9
+f 3 9 4
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+f 5 10 11
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+f 5 12 13
+f 5 13 7
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+f 6 13 14
+f 8 15 16
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+f 10 28 34
+f 10 34 48
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+f 10 31 30
+f 10 30 20
+f 10 20 18
+f 10 18 13
+f 10 13 12
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+f 13 18 14
+f 14 18 20
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+f 15 21 22
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+f 15 34 28
+f 15 28 27
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+f 15 26 25
+f 15 25 24
+f 15 24 21
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 22 21
+f 17 21 24
+f 19 20 30
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+f 19 31 32
+f 19 32 29
+f 23 33 34
+f 29 32 35
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+f 32 41 42
+f 32 42 43
+f 32 43 35
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 36 38 37
+f 39 49 41
+f 39 41 40
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+f 41 49 46
+f 41 46 50
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 44 51 46
+f 44 46 45
+f 46 49 47
+f 46 51 50
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_47.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764ae8310469566debfa274d5d8a05c751d66061
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_47.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.06518244 -0.17099493 0.06917791
+v -0.07456945 -0.17099495 0.07390016
+v -0.06518244 -0.17099488 0.05385080
+v -0.06518244 -0.07529916 0.07179619
+v -0.08007149 -0.17099496 0.07644675
+v -0.08495287 -0.17099487 0.05296627
+v -0.06518244 -0.16687337 0.05334674
+v -0.06518244 -0.06875814 0.07188895
+v -0.08673432 -0.16687345 0.07525789
+v -0.08673432 -0.17099496 0.07519605
+v -0.06518244 -0.06642206 0.07190798
+v -0.06518244 -0.05988105 0.07195080
+v -0.06518244 -0.05334003 0.07198886
+v -0.08031305 -0.08184020 0.07700824
+v -0.06518244 -0.16033235 0.05309471
+v -0.09930178 -0.17099487 0.05296627
+v -0.08012182 -0.14069260 0.05296638
+v -0.09252488 -0.10798758 0.07269486
+v -0.08031305 -0.07529918 0.07703679
+v -0.08673432 -0.08184020 0.07556255
+v -0.09112924 -0.17099495 0.07217390
+v -0.06518244 -0.04679901 0.07202218
+v -0.06518244 -0.15989851 0.05309471
+v -0.07980645 -0.13416827 0.05296641
+v -0.07966890 -0.10208056 0.05296653
+v -0.09931185 -0.17099488 0.05472344
+v -0.09943933 -0.14070930 0.05472355
+v -0.09941920 -0.14070929 0.05296638
+v -0.09573888 -0.10798757 0.07035038
+v -0.08673432 -0.01641332 0.07568406
+v -0.08673432 -0.00987230 0.07568646
+v -0.08673432 -0.00333129 0.07566271
+v -0.08673432 -0.00052799 0.07565083
+v -0.08941489 -0.00052798 0.07381519
+v -0.09141105 -0.00052798 0.07244797
+v -0.06518244 -0.04025799 0.07204598
+v -0.08031305 -0.00987230 0.07724152
+v -0.09433988 -0.17099493 0.06902098
+v -0.06518244 -0.15612741 0.05309949
+v -0.07967897 -0.10144648 0.05296653
+v -0.08678465 -0.00052790 0.05296690
+v -0.09888242 -0.17099490 0.06122664
+v -0.09941250 -0.14070932 0.06122675
+v -0.09945275 -0.13416830 0.06122678
+v -0.09942256 -0.13894053 0.05296639
+v -0.09945611 -0.12108625 0.06122683
+v -0.09943933 -0.12108623 0.05472363
+v -0.09942591 -0.12762725 0.05296643
+v -0.09789273 -0.10144654 0.06704293
+v -0.09790950 -0.10798756 0.06709997
+v -0.09790279 -0.13416832 0.06643410
+v -0.09741298 -0.17099492 0.06577057
+v -0.09626895 -0.17099493 0.06698085
+v -0.09277986 -0.00052797 0.07083109
+v -0.09462170 -0.00052796 0.06864830
+v -0.08031305 -0.00333129 0.07725344
+v -0.08031305 -0.00052799 0.07725582
+v -0.08399337 -0.00052799 0.07634514
+v -0.06518244 -0.00333128 0.07215075
+v -0.06518244 -0.11454521 0.05323993
+v -0.09744317 -0.00052790 0.05296690
+v -0.06518244 -0.00052794 0.06309382
+v -0.06518244 -0.10144649 0.05382490
+v -0.06518244 -0.10378257 0.05367034
+v -0.06518244 -0.10798751 0.05340401
+v -0.09785918 -0.14070934 0.06624861
+v -0.09945275 -0.11454523 0.06122685
+v -0.09943597 -0.11454521 0.05472365
+v -0.09942591 -0.12585850 0.05296644
+v -0.09940579 -0.10144651 0.06122690
+v -0.09944605 -0.10798753 0.06122687
+v -0.09685606 -0.00052795 0.06539789
+v -0.06518244 -0.00052798 0.07215551
+v -0.09743981 -0.00052791 0.05472407
+v -0.09936552 -0.10144648 0.05296653
+v -0.09937895 -0.10144649 0.05472370
+v -0.09941920 -0.11454520 0.05296648
+v -0.09942256 -0.11931748 0.05296646
+v -0.09942591 -0.10798751 0.05472367
+v -0.09708419 -0.00052794 0.06361931
+v -0.09738278 -0.00052793 0.06122727
+v -0.09740962 -0.00052792 0.05845242
+v -0.09940242 -0.10621876 0.05296651
+v -0.09940914 -0.10798750 0.05296650
+f 1 2 5
+f 1 5 10
+f 1 10 21
+f 1 21 38
+f 1 38 53
+f 1 53 52
+f 1 52 42
+f 1 42 26
+f 1 26 16
+f 1 16 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 39
+f 1 39 60
+f 1 60 65
+f 1 65 64
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+f 1 63 62
+f 1 62 73
+f 1 73 59
+f 1 59 36
+f 1 36 22
+f 1 22 13
+f 1 13 12
+f 1 12 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 9 10
+f 5 8 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 9
+f 6 15 7
+f 6 16 28
+f 6 28 45
+f 6 45 48
+f 6 48 69
+f 6 69 78
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+f 6 75 61
+f 6 61 41
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+f 6 40 25
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+f 6 24 17
+f 6 17 15
+f 9 18 10
+f 9 14 19
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+f 9 20 18
+f 10 18 21
+f 13 22 14
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+f 18 29 21
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+f 36 59 37
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+f 50 71 67
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+f 70 76 79
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+f 70 72 80
+f 70 80 81
+f 70 81 82
+f 70 82 74
+f 75 83 76
+f 76 83 79
+f 79 83 84
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_48.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84789533faa6582319f487454e04688e35689300
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_48.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.06723779 0.04711033 0.06096111
+v 0.03997575 0.04711032 0.06291937
+v 0.06723779 0.04711036 0.05237148
+v 0.06723779 0.17043221 0.06392334
+v 0.03997575 0.17043219 0.06815602
+v 0.03997575 0.04711036 0.05221734
+v 0.04815303 0.04711036 0.05219375
+v 0.06099541 0.13407305 0.05212958
+v 0.06723779 0.14061578 0.05217837
+v 0.06723779 0.17043225 0.05251194
+v 0.03997575 0.17043225 0.05224297
+v 0.04048817 0.04711036 0.05220790
+v 0.03997575 0.08828606 0.05208851
+v 0.04172917 0.04711036 0.05218588
+v 0.06099541 0.14061578 0.05211860
+v 0.06723779 0.15370123 0.05216898
+v 0.06384304 0.17043225 0.05239711
+v 0.06723779 0.16696774 0.05226812
+v 0.04075238 0.17043225 0.05218162
+v 0.03997575 0.16678667 0.05219104
+v 0.03997575 0.16024395 0.05214384
+v 0.04172917 0.17043225 0.05210613
+v 0.04815303 0.16024395 0.05208878
+v 0.05457422 0.14715850 0.05209817
+v 0.06723779 0.16024395 0.05216901
+v 0.05099800 0.17043225 0.05217690
+v 0.06723779 0.16678667 0.05226025
+v 0.04457680 0.17043225 0.05210141
+v 0.06723779 0.16042502 0.05217058
+f 1 2 6
+f 1 6 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 25
+f 1 25 29
+f 1 29 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 21
+f 2 21 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 26
+f 4 26 28
+f 4 28 22
+f 4 22 19
+f 4 19 11
+f 4 11 5
+f 6 13 12
+f 7 14 13
+f 7 13 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 10 18 17
+f 11 19 20
+f 12 13 14
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 15
+f 15 24 25
+f 15 25 16
+f 17 18 26
+f 18 27 26
+f 19 22 20
+f 20 22 21
+f 22 28 23
+f 23 28 25
+f 23 25 24
+f 25 28 29
+f 26 27 28
+f 27 29 28
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_49.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead7abaccadbc0b781c9efaa131b944d08bdc8cf
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_49.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.07689255 0.18639395 -0.02906404
+v -0.07388613 0.18698293 -0.02906403
+v -0.07689255 0.17088046 -0.02906409
+v -0.07689255 0.19497192 0.03825398
+v -0.04177367 0.19948656 0.01571462
+v -0.04037234 0.19730539 0.00687594
+v -0.06746579 0.18710692 -0.02906403
+v -0.04037234 0.17403951 -0.02906408
+v -0.07689255 0.17148056 0.00912678
+v -0.07689255 0.19536925 0.04172042
+v -0.04177367 0.19966116 0.04758787
+v -0.04037234 0.19950909 0.01571462
+v -0.04037234 0.18680258 -0.02906403
+v -0.04052964 0.18680540 -0.02906403
+v -0.05462152 0.18697165 -0.02906403
+v -0.06104186 0.18704211 -0.02906403
+v -0.04037234 0.17943585 0.04758780
+v -0.07689255 0.17198214 0.02221222
+v -0.07689255 0.17165808 0.01571452
+v -0.07689255 0.19534106 0.04758786
+v -0.04114808 0.19966397 0.04758787
+v -0.04037234 0.19966680 0.04758787
+v -0.04177367 0.17937104 0.04758780
+v -0.07689255 0.17282753 0.02871743
+v -0.07689255 0.18062789 0.04758780
+v -0.04240283 0.17937666 0.04758780
+f 1 2 7
+f 1 7 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 18
+f 1 18 24
+f 1 24 25
+f 1 25 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 6 12 22
+f 6 22 17
+f 6 17 8
+f 6 8 13
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 25
+f 11 25 26
+f 11 26 23
+f 11 23 17
+f 11 17 22
+f 11 22 21
+f 11 21 12
+f 12 21 22
+f 17 23 24
+f 17 24 18
+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_5.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab6aff8abb457265f12d85f32370d2f3ba7cec5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_5.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.09000630 -0.00065069 -0.13790167
+v 0.09000140 -0.00065069 -0.13808768
+v 0.07254169 -0.00065069 -0.13790167
+v 0.08999650 -0.03604834 -0.13790180
+v 0.08999161 -0.04259214 -0.13806676
+v 0.08999650 -0.02296074 -0.13808032
+v 0.08967326 -0.00987313 -0.14133539
+v 0.08966837 -0.00065068 -0.14133907
+v 0.08968306 -0.04259213 -0.14131814
+v 0.08968306 -0.03604833 -0.14132308
+v 0.08967817 -0.02296073 -0.14133171
+v 0.03997309 -0.00065069 -0.13807280
+v 0.03997309 -0.02950454 -0.13796627
+v 0.03997309 -0.16401198 -0.13790227
+v 0.08999161 -0.04913593 -0.13790185
+v 0.08998671 -0.06220556 -0.13796390
+v 0.08670046 -0.02950451 -0.14682016
+v 0.08790525 -0.00065067 -0.14458425
+v 0.08669067 -0.04913590 -0.14682023
+v 0.08670046 -0.04259211 -0.14682021
+v 0.08998181 -0.07529316 -0.13790195
+v 0.08967817 -0.04913592 -0.14129461
+v 0.08652415 -0.14725695 -0.14682059
+v 0.03997309 -0.00065065 -0.15029961
+v 0.03997309 -0.18376922 -0.13790235
+v 0.08370807 -0.02950450 -0.15016951
+v 0.08370807 -0.00987310 -0.15016696
+v 0.08370807 -0.00065065 -0.15016568
+v 0.08669556 -0.01641691 -0.14682011
+v 0.08370807 -0.14725694 -0.15017739
+v 0.08668577 -0.00065066 -0.14682005
+v 0.08370807 -0.15380074 -0.15017616
+v 0.08997201 -0.08183696 -0.13790197
+v 0.08996221 -0.08812907 -0.13790199
+v 0.08966347 -0.06220555 -0.14121529
+v 0.08650456 -0.15380075 -0.14682061
+v 0.08026510 -0.00065065 -0.15025869
+v 0.03997309 -0.09312677 -0.15051447
+v 0.03997309 -0.18366136 -0.13881501
+v 0.04173130 -0.18369731 -0.13886461
+v 0.07403054 -0.18430854 -0.13790235
+v 0.08026510 -0.12762553 -0.15034595
+v 0.08230247 -0.00065065 -0.15020412
+v 0.08026510 -0.12108174 -0.15034345
+v 0.08026510 -0.14071313 -0.15034600
+v 0.08368848 -0.16032656 -0.15016751
+v 0.08026510 -0.15380074 -0.15034109
+v 0.08026510 -0.14725694 -0.15034479
+v 0.08961939 -0.08838074 -0.14102690
+v 0.08963408 -0.08183695 -0.14110128
+v 0.08964388 -0.07529315 -0.14114094
+v 0.08993283 -0.09440321 -0.13790202
+v 0.08937452 -0.16032659 -0.14032034
+v 0.08960960 -0.09490657 -0.14089053
+v 0.08647028 -0.16032657 -0.14682064
+v 0.07383953 -0.11453794 -0.15041163
+v 0.03997309 -0.10799414 -0.15054058
+v 0.03997309 -0.10145034 -0.15053063
+v 0.03997309 -0.09490654 -0.15051820
+v 0.03997309 -0.18346360 -0.13970288
+v 0.07650869 -0.18331977 -0.14370077
+v 0.07415788 -0.18393101 -0.14055604
+v 0.07740494 -0.18331977 -0.14370077
+v 0.07983412 -0.18369731 -0.13988144
+v 0.07997615 -0.18389507 -0.13790235
+v 0.07383953 -0.12108174 -0.15041537
+v 0.08365909 -0.16687036 -0.15015637
+v 0.07383953 -0.14725694 -0.15039563
+v 0.07383953 -0.14071313 -0.15040677
+v 0.08026510 -0.16032656 -0.15032747
+v 0.07383953 -0.13416934 -0.15041046
+v 0.08989855 -0.10060544 -0.13790204
+v 0.08949205 -0.16032660 -0.13790226
+v 0.08944308 -0.16444345 -0.13790227
+v 0.08929616 -0.16687039 -0.14032036
+v 0.08640661 -0.16687037 -0.14682066
+v 0.08983489 -0.11162562 -0.13790208
+v 0.08982509 -0.11327955 -0.13790209
+v 0.03997309 -0.14071313 -0.15057046
+v 0.03997309 -0.13891539 -0.15056920
+v 0.03997309 -0.12582779 -0.15055799
+v 0.03997309 -0.11928400 -0.15055178
+v 0.03997309 -0.18279843 -0.14206640
+v 0.03997309 -0.17949055 -0.14698192
+v 0.03997309 -0.17850179 -0.14818475
+v 0.03997309 -0.17682989 -0.15014525
+v 0.04173130 -0.17682989 -0.15014773
+v 0.07985860 -0.17976022 -0.14680955
+v 0.08483940 -0.17834002 -0.14558563
+v 0.08168539 -0.18269056 -0.14175640
+v 0.07803183 -0.17681190 -0.15014525
+v 0.08285590 -0.18339170 -0.13790234
+v 0.08359053 -0.17096922 -0.15012291
+v 0.08026510 -0.16687036 -0.15030517
+v 0.03997309 -0.14725694 -0.15056304
+v 0.08941370 -0.16687040 -0.13790228
+v 0.08881130 -0.17341421 -0.13790231
+v 0.08865458 -0.17341420 -0.14032039
+v 0.08545159 -0.17325238 -0.14737995
+v 0.03997309 -0.17596695 -0.15018866
+v 0.03997309 -0.17348607 -0.15031141
+v 0.04173130 -0.17341417 -0.15031636
+v 0.08231227 -0.17531978 -0.14991955
+v 0.08538303 -0.18029957 -0.13988143
+v 0.08393825 -0.18272653 -0.13790234
+v 0.08337503 -0.18324787 -0.13790234
+v 0.03997309 -0.17163439 -0.15037960
+v 0.08021123 -0.17325237 -0.15020476
+v 0.03997309 -0.16687036 -0.15044282
+v 0.03997309 -0.15380074 -0.15052710
+v 0.08566708 -0.18019171 -0.13790233
+f 1 2 8
+f 1 8 18
+f 1 18 31
+f 1 31 28
+f 1 28 43
+f 1 43 37
+f 1 37 24
+f 1 24 12
+f 1 12 3
+f 1 3 14
+f 1 14 25
+f 1 25 41
+f 1 41 65
+f 1 65 92
+f 1 92 106
+f 1 106 105
+f 1 105 111
+f 1 111 97
+f 1 97 96
+f 1 96 74
+f 1 74 73
+f 1 73 78
+f 1 78 77
+f 1 77 72
+f 1 72 52
+f 1 52 34
+f 1 34 33
+f 1 33 21
+f 1 21 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 13
+f 3 13 14
+f 4 15 16
+f 4 16 5
+f 5 16 9
+f 5 9 6
+f 7 11 17
+f 7 17 8
+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 9 16 21
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+f 9 23 19
+f 10 17 11
+f 10 20 17
+f 12 24 38
+f 12 38 59
+f 12 59 58
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+f 12 57 82
+f 12 82 81
+f 12 81 80
+f 12 80 79
+f 12 79 95
+f 12 95 110
+f 12 110 109
+f 12 109 107
+f 12 107 101
+f 12 101 100
+f 12 100 86
+f 12 86 85
+f 12 85 84
+f 12 84 83
+f 12 83 60
+f 12 60 39
+f 12 39 25
+f 12 25 14
+f 12 14 13
+f 15 21 16
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 20 30
+f 17 30 26
+f 18 29 31
+f 19 23 32
+f 19 32 20
+f 20 32 30
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 32
+f 24 37 38
+f 25 39 40
+f 25 40 41
+f 26 30 42
+f 26 42 27
+f 27 42 28
+f 28 31 29
+f 28 42 44
+f 28 44 43
+f 30 32 48
+f 30 48 45
+f 30 45 42
+f 32 36 46
+f 32 46 47
+f 32 47 48
+f 34 49 50
+f 34 50 51
+f 34 51 35
+f 34 52 53
+f 34 53 54
+f 34 54 49
+f 35 51 36
+f 36 55 46
+f 36 51 50
+f 36 50 55
+f 37 43 44
+f 37 44 56
+f 37 56 57
+f 37 57 58
+f 37 58 59
+f 37 59 38
+f 39 60 40
+f 40 60 61
+f 40 61 62
+f 40 62 41
+f 41 62 63
+f 41 63 64
+f 41 64 65
+f 42 45 66
+f 42 66 44
+f 44 66 56
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+f 46 55 67
+f 46 67 47
+f 47 68 69
+f 47 69 71
+f 47 71 48
+f 47 67 70
+f 47 70 68
+f 48 71 66
+f 49 54 53
+f 49 53 55
+f 49 55 50
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+f 53 75 76
+f 53 76 55
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+f 53 78 73
+f 55 76 67
+f 56 66 79
+f 56 79 80
+f 56 80 81
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+f 56 82 57
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+f 61 63 62
+f 61 83 84
+f 61 84 85
+f 61 85 86
+f 61 86 87
+f 61 87 63
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 63 87 91
+f 63 91 88
+f 64 90 92
+f 64 92 65
+f 66 71 79
+f 67 76 93
+f 67 93 94
+f 67 94 70
+f 68 70 95
+f 68 95 69
+f 69 79 71
+f 69 95 79
+f 70 94 95
+f 74 96 75
+f 75 96 97
+f 75 97 98
+f 75 98 76
+f 76 98 99
+f 76 99 93
+f 86 100 87
+f 87 100 101
+f 87 101 102
+f 87 102 91
+f 88 91 103
+f 88 103 89
+f 89 103 99
+f 89 99 98
+f 89 98 104
+f 89 104 105
+f 89 105 106
+f 89 106 90
+f 90 106 92
+f 91 102 107
+f 91 107 108
+f 91 108 93
+f 91 93 103
+f 93 108 94
+f 93 99 103
+f 94 108 107
+f 94 107 109
+f 94 109 110
+f 94 110 95
+f 97 111 98
+f 98 111 104
+f 101 107 102
+f 104 111 105
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_50.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f81c98a99ddf0ee876a9f36817419d356c63cc
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_50.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00970190 0.17042064 -0.02210825
+v -0.01011020 0.17042066 -0.02735717
+v -0.01352370 0.18042177 -0.02210822
+v -0.02803032 0.17042064 -0.02210825
+v -0.01149422 0.17042070 -0.03875249
+v -0.01546612 0.17987407 -0.03924397
+v -0.01419319 0.18160552 -0.02210821
+v -0.04036934 0.17468115 -0.02210824
+v -0.04036934 0.17342753 -0.03487744
+v -0.04036934 0.17331264 -0.03629493
+v -0.04036934 0.17309788 -0.03924399
+v -0.02846263 0.17042066 -0.02726826
+v -0.01162631 0.17042070 -0.03924400
+v -0.01809004 0.18408630 -0.03924395
+v -0.01653190 0.18554970 -0.02210820
+v -0.04036934 0.18709473 -0.02210819
+v -0.02903605 0.17042070 -0.03924400
+v -0.02889495 0.17042069 -0.03420812
+v -0.02863076 0.17042067 -0.02979459
+v -0.04036934 0.18643382 -0.03924395
+v -0.02058487 0.18496204 -0.03924395
+v -0.02250627 0.18563134 -0.03924395
+v -0.02250627 0.18742772 -0.02210819
+v -0.02892497 0.18628066 -0.03924395
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 16
+f 1 16 8
+f 1 8 4
+f 1 4 12
+f 1 12 19
+f 1 19 18
+f 1 18 17
+f 1 17 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 17
+f 6 17 11
+f 6 11 20
+f 6 20 24
+f 6 24 22
+f 6 22 21
+f 6 21 14
+f 8 16 20
+f 8 20 11
+f 8 11 10
+f 8 10 9
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 16 23 20
+f 20 23 24
+f 22 24 23
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_51.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96169bd38914d43df06731f6bb37687eae7295e1
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_51.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03534682 0.19964805 0.05033769
+v -0.04037234 0.19945930 0.05033769
+v -0.03534682 0.19959116 0.05242431
+v 0.03530147 0.19934035 0.05203464
+v 0.03795973 0.19933001 0.05203464
+v 0.03530147 0.19934811 0.04995020
+v 0.03359484 0.19933259 0.04995020
+v 0.02887604 0.19921623 0.04995020
+v -0.04037234 0.19924468 0.05242431
+v -0.00012098 0.19742951 0.04995020
+v -0.04037234 0.17789972 0.05033761
+v -0.00012885 0.19755880 0.05242431
+v 0.03873047 0.19933002 0.04995020
+v 0.03997308 0.19920071 0.05203464
+v 0.03997308 0.19932225 0.04999985
+v -0.04037234 0.17323252 0.05242422
+v -0.00012098 0.17958819 0.04995013
+v -0.04037234 0.17323252 0.05217719
+v 0.03997308 0.17814019 0.04995012
+v -0.00012885 0.17787126 0.05242423
+v 0.03997308 0.19932225 0.04995020
+v 0.03997308 0.17490547 0.05203455
+v -0.03156392 0.17323252 0.05242422
+v -0.04028583 0.17323252 0.05217816
+v -0.03524458 0.17323252 0.05225372
+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 3
+f 2 8 10
+f 2 10 17
+f 2 17 11
+f 2 11 18
+f 2 18 16
+f 2 16 9
+f 3 9 16
+f 3 16 23
+f 3 23 20
+f 3 20 12
+f 3 12 5
+f 3 5 4
+f 5 13 6
+f 5 12 14
+f 5 14 15
+f 5 15 13
+f 6 13 21
+f 6 21 19
+f 6 19 17
+f 6 17 10
+f 6 10 8
+f 6 8 7
+f 11 17 19
+f 11 19 18
+f 12 20 22
+f 12 22 14
+f 13 15 21
+f 14 22 19
+f 14 19 21
+f 14 21 15
+f 16 18 24
+f 16 24 25
+f 16 25 23
+f 18 19 24
+f 19 22 24
+f 20 23 22
+f 22 23 25
+f 22 25 24
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_52.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e70cd11c16c57e3d0a18da931fe2d21bc8e71
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_52.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.06825531 -0.18701373 -0.02678904
+v 0.07384616 -0.18687724 -0.02678904
+v 0.06825531 -0.17467999 -0.02678899
+v 0.06825531 -0.18579707 -0.08180726
+v 0.07384616 -0.18488304 -0.13381243
+v 0.08026686 -0.18548560 -0.06230396
+v 0.08026686 -0.18598419 -0.02678903
+v 0.08026686 -0.18431338 -0.13381243
+v 0.08026686 -0.18442615 -0.12730769
+v 0.07853943 -0.15670603 -0.02678893
+v 0.07231349 -0.15670562 -0.13790225
+v 0.06825531 -0.16508141 -0.13790228
+v 0.06825531 -0.18565166 -0.08830111
+v 0.06825531 -0.18459821 -0.13381243
+v 0.06825531 -0.18402854 -0.13790235
+v 0.06854745 -0.18404337 -0.13790235
+v 0.07403669 -0.18430743 -0.13790235
+v 0.07997472 -0.18389798 -0.13790235
+v 0.08369843 -0.18339956 -0.13381242
+v 0.08379793 -0.18347671 -0.12730768
+v 0.08467646 -0.18422773 -0.02678903
+v 0.08444994 -0.18399615 -0.06880869
+v 0.08451769 -0.18405551 -0.06230396
+v 0.08455156 -0.18409115 -0.05581011
+v 0.08458120 -0.18412380 -0.04930539
+v 0.08359046 -0.18332241 -0.13741286
+v 0.08987991 -0.15670603 -0.02678893
+v 0.08950521 -0.15670562 -0.13790225
+v 0.08285588 -0.18339360 -0.13790234
+v 0.08625570 -0.17996973 -0.13381241
+v 0.08387201 -0.18353312 -0.12081384
+v 0.08761901 -0.17997012 -0.02678901
+v 0.08636790 -0.17996975 -0.12730767
+v 0.08722526 -0.17996997 -0.06880867
+v 0.08731417 -0.17996999 -0.06230394
+v 0.08337877 -0.18325118 -0.13790234
+v 0.08393976 -0.18273196 -0.13790234
+v 0.08566930 -0.18019223 -0.13790233
+v 0.08986509 -0.15841798 -0.02678893
+v 0.08987991 -0.15670603 -0.02734369
+v 0.08949251 -0.16034610 -0.13790226
+v 0.08956448 -0.15670563 -0.13669486
+v 0.08881085 -0.17342752 -0.13790231
+v 0.08907547 -0.17342754 -0.13381239
+v 0.08952426 -0.17342792 -0.02980205
+v 0.08953696 -0.17342793 -0.02678899
+v 0.08984392 -0.16034651 -0.02678894
+v 0.08975713 -0.16034621 -0.10780431
+v 0.08976347 -0.15670571 -0.11430903
+v 0.08941841 -0.16688829 -0.13790228
+v 0.08968938 -0.16034612 -0.13381234
+v 0.08961741 -0.16688831 -0.13381236
+v 0.08970208 -0.15670564 -0.13381233
+v 0.08976347 -0.16688870 -0.02678896
+v 0.08967033 -0.16688838 -0.11430906
+v 0.08968092 -0.16688840 -0.10780433
+v 0.08974654 -0.16034619 -0.11430904
+f 1 2 7
+f 1 7 21
+f 1 21 32
+f 1 32 46
+f 1 46 54
+f 1 54 47
+f 1 47 39
+f 1 39 27
+f 1 27 10
+f 1 10 3
+f 1 3 12
+f 1 12 15
+f 1 15 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 8
+f 6 9 19
+f 6 19 20
+f 6 20 7
+f 7 20 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 21
+f 8 18 26
+f 8 26 19
+f 8 19 9
+f 10 27 40
+f 10 40 49
+f 10 49 53
+f 10 53 42
+f 10 42 28
+f 10 28 11
+f 11 28 41
+f 11 41 50
+f 11 50 43
+f 11 43 38
+f 11 38 37
+f 11 37 36
+f 11 36 29
+f 11 29 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 12
+f 18 29 26
+f 19 26 30
+f 19 30 20
+f 20 30 31
+f 20 31 22
+f 21 25 32
+f 22 31 30
+f 22 30 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 32
+f 24 32 25
+f 26 29 36
+f 26 36 37
+f 26 37 38
+f 26 38 30
+f 27 39 40
+f 28 42 41
+f 30 38 43
+f 30 43 44
+f 30 44 33
+f 32 45 46
+f 32 35 44
+f 32 44 45
+f 33 44 34
+f 34 44 35
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 41 42 51
+f 41 51 52
+f 41 52 50
+f 42 53 51
+f 43 50 44
+f 44 50 52
+f 44 52 45
+f 45 52 46
+f 46 52 55
+f 46 55 56
+f 46 56 54
+f 47 54 56
+f 47 56 48
+f 48 56 55
+f 48 55 57
+f 48 57 49
+f 49 57 51
+f 49 51 53
+f 51 57 52
+f 52 57 55
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_53.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b2a1629615b78daf970e1ad10673ac61c0a5d3
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_53.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03997530 0.17043219 0.06815554
+v 0.06257853 0.17043221 0.06323068
+v 0.06257853 0.17407548 0.07422487
+v 0.04173001 0.17307979 0.07422487
+v 0.03997530 0.17300058 0.07422487
+v 0.03997530 0.17043225 0.05224166
+v 0.06257853 0.17043225 0.05238667
+v 0.06257853 0.17615735 0.07775670
+v 0.04173001 0.17539927 0.07818651
+v 0.03997530 0.17468928 0.07710418
+v 0.03997530 0.18005827 0.02563918
+v 0.04815362 0.17936243 0.02563918
+v 0.05457281 0.17889003 0.02563918
+v 0.06099642 0.17857605 0.02563918
+v 0.04075197 0.17043225 0.05217952
+v 0.05099921 0.17043225 0.05217434
+v 0.06257853 0.17854211 0.02563918
+v 0.06257853 0.17684471 0.07775670
+v 0.03997530 0.17987421 0.07853868
+v 0.03997530 0.17534553 0.07820205
+v 0.03997530 0.19908948 0.02563925
+v 0.04173001 0.17043225 0.05210185
+v 0.04457560 0.17043225 0.05209667
+v 0.06257853 0.18910432 0.02563921
+v 0.06257853 0.18003261 0.07772046
+v 0.03997530 0.18426994 0.07780851
+v 0.06257853 0.18235778 0.07750815
+v 0.06257853 0.18290371 0.07745119
+v 0.03997530 0.19932983 0.04822316
+v 0.04173001 0.19931851 0.04822316
+v 0.04173001 0.19905836 0.02563925
+v 0.04722426 0.19776001 0.02563925
+v 0.06257853 0.19179153 0.02941960
+v 0.05872613 0.18317809 0.07749779
+v 0.03997530 0.18753706 0.07597530
+v 0.06257853 0.18578330 0.07467546
+v 0.03997530 0.19468792 0.07178065
+v 0.03997530 0.19932417 0.05000461
+v 0.03997530 0.19902431 0.05649858
+v 0.04173001 0.19892813 0.05472232
+v 0.06257853 0.19565822 0.05472231
+v 0.06257853 0.19565539 0.05312212
+v 0.06257853 0.19563560 0.04822315
+v 0.06257853 0.19561865 0.04662814
+v 0.06257853 0.19554511 0.04172400
+v 0.06257853 0.19534429 0.04012381
+v 0.06257853 0.19469088 0.03522484
+v 0.06257853 0.18661775 0.07380546
+v 0.03997530 0.19597213 0.07040832
+v 0.03997530 0.19796636 0.06316346
+v 0.06257853 0.19494537 0.06122146
+v 0.06257853 0.18950016 0.07070866
+v 0.06257853 0.19196394 0.06745650
+v 0.03997530 0.19715170 0.06759634
+v 0.03997530 0.19722524 0.06732705
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 20
+f 1 20 19
+f 1 19 26
+f 1 26 35
+f 1 35 37
+f 1 37 49
+f 1 49 54
+f 1 54 55
+f 1 55 50
+f 1 50 39
+f 1 39 38
+f 1 38 29
+f 1 29 21
+f 1 21 11
+f 1 11 6
+f 1 6 15
+f 1 15 22
+f 1 22 23
+f 1 23 16
+f 1 16 7
+f 1 7 2
+f 2 7 17
+f 2 17 24
+f 2 24 33
+f 2 33 47
+f 2 47 46
+f 2 46 45
+f 2 45 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
+f 2 41 51
+f 2 51 53
+f 2 53 52
+f 2 52 48
+f 2 48 36
+f 2 36 28
+f 2 28 27
+f 2 27 25
+f 2 25 18
+f 2 18 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 16 17
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 11 21 31
+f 11 31 32
+f 11 32 24
+f 11 24 17
+f 11 17 14
+f 11 14 13
+f 11 13 12
+f 14 17 22
+f 14 22 15
+f 16 23 17
+f 17 23 22
+f 18 25 19
+f 19 25 27
+f 19 27 28
+f 19 28 26
+f 21 29 30
+f 21 30 31
+f 24 32 33
+f 26 28 34
+f 26 34 35
+f 28 35 34
+f 28 36 37
+f 28 37 35
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 36 48 37
+f 37 48 49
+f 39 50 51
+f 39 51 41
+f 39 41 40
+f 48 52 49
+f 49 52 53
+f 49 53 51
+f 49 51 54
+f 50 55 51
+f 51 55 54
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_54.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66c4fe2ab552888c17c5e5871775d51023060b5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_54.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.07689475 0.18758433 0.01676407
+v -0.07744270 0.18746928 0.01676407
+v -0.08673562 0.19352870 0.03521972
+v -0.08031276 0.19446829 0.03521972
+v -0.07689475 0.19456417 0.03521972
+v -0.07689475 0.17172617 0.01676401
+v -0.08031276 0.18683650 0.01676407
+v -0.08673562 0.19431486 0.04171974
+v -0.08031276 0.19533117 0.04171975
+v -0.09105288 0.19044144 0.03147167
+v -0.09197864 0.19120845 0.03521971
+v -0.07689475 0.19496685 0.03825914
+v -0.07689475 0.17197543 0.02221959
+v -0.07863359 -0.00050862 0.02221896
+v -0.07869324 -0.00050861 0.01849084
+v -0.07872417 -0.00050860 0.01676338
+v -0.08500784 0.18442038 0.01676406
+v -0.08673562 0.19418063 0.04583491
+v -0.08031276 0.19527363 0.04583492
+v -0.09222610 0.19153441 0.04171973
+v -0.07689475 0.19533115 0.04583492
+v -0.07689475 0.19536952 0.04171975
+v -0.09518896 0.18819789 0.03521970
+v -0.09680848 0.18415186 0.03155418
+v -0.07689475 0.17281913 0.02871962
+v -0.07872417 -0.00050865 0.02871899
+v -0.07689475 0.17548451 0.03505743
+v -0.07689475 0.18022082 0.04583486
+v -0.09023096 -0.00050860 0.01676338
+v -0.08558229 0.18357666 0.01676405
+v -0.09206702 0.19141934 0.04583490
+v -0.09543642 0.18829375 0.04171972
+v -0.09719292 0.18493805 0.03521969
+v -0.08813200 0.17977989 0.01676404
+v -0.08850539 0.17870607 0.01676404
+v -0.08980675 0.17469837 0.01676402
+v -0.08989734 0.17427652 0.01676402
+v -0.09474265 0.14060425 0.01676390
+v -0.09704048 0.17985654 0.03128095
+v -0.09810322 0.17985652 0.03521967
+v -0.08120538 -0.00050867 0.03508241
+v -0.08669806 -0.00050871 0.04583420
+v -0.09656544 -0.00050866 0.03161042
+v -0.09418366 0.10683612 0.01676377
+v -0.09527734 0.18808280 0.04583489
+v -0.09728793 0.18501473 0.04171971
+v -0.09651684 0.18601184 0.04583488
+v -0.09841034 0.17985650 0.04171969
+v -0.09937144 0.10135182 0.04171940
+v -0.09939133 0.10789068 0.04171943
+v -0.09832416 0.16677881 0.03521962
+v -0.09827335 0.17331767 0.03521965
+v -0.09861802 0.17331765 0.04171967
+v -0.09744702 -0.00050871 0.04583420
+v -0.09706698 -0.00050867 0.03521901
+v -0.09830207 0.17985648 0.04583486
+v -0.09788890 0.18175487 0.04583487
+v -0.09719735 0.18480377 0.04583488
+v -0.09851418 0.17573375 0.04583485
+v -0.09942667 0.10135180 0.04583457
+v -0.09946424 0.10789066 0.04583460
+v -0.09742270 -0.00050869 0.04171903
+v -0.09939574 0.14060416 0.04171955
+v -0.09858929 0.17331763 0.04583484
+v -0.09944435 0.14060414 0.04583472
+v -0.09744480 -0.00050871 0.04544716
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 22
+f 1 22 21
+f 1 21 28
+f 1 28 27
+f 1 27 25
+f 1 25 13
+f 1 13 6
+f 1 6 16
+f 1 16 29
+f 1 29 44
+f 1 44 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 30
+f 1 30 17
+f 1 17 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 9 5
+f 5 9 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 10
+f 8 18 19
+f 8 19 9
+f 8 11 20
+f 8 20 18
+f 9 21 22
+f 9 22 12
+f 9 19 21
+f 10 23 11
+f 10 17 24
+f 10 24 23
+f 11 23 20
+f 13 25 14
+f 14 26 41
+f 14 41 42
+f 14 42 54
+f 14 54 66
+f 14 66 62
+f 14 62 55
+f 14 55 43
+f 14 43 29
+f 14 29 16
+f 14 16 15
+f 14 25 27
+f 14 27 28
+f 14 28 26
+f 17 30 24
+f 18 20 31
+f 18 31 45
+f 18 45 47
+f 18 47 58
+f 18 58 57
+f 18 57 56
+f 18 56 59
+f 18 59 64
+f 18 64 65
+f 18 65 61
+f 18 61 60
+f 18 60 54
+f 18 54 42
+f 18 42 28
+f 18 28 21
+f 18 21 19
+f 20 23 32
+f 20 32 31
+f 23 24 33
+f 23 33 32
+f 24 30 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 33
+f 26 28 41
+f 28 42 41
+f 29 43 44
+f 31 32 45
+f 32 33 46
+f 32 46 47
+f 32 47 45
+f 33 40 48
+f 33 48 46
+f 38 44 43
+f 38 43 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 40
+f 38 40 39
+f 40 52 53
+f 40 53 48
+f 43 55 49
+f 46 48 56
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 48 53 59
+f 48 59 56
+f 49 60 61
+f 49 61 50
+f 49 55 62
+f 49 62 60
+f 50 61 63
+f 50 63 51
+f 51 63 52
+f 52 63 53
+f 53 64 59
+f 53 63 65
+f 53 65 64
+f 54 60 66
+f 60 62 66
+f 61 65 63
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_55.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d113cea0d7cd98b388641fc6cc714c063ded30
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_55.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03997585 -0.16402916 -0.13790227
+v 0.06825531 -0.16508220 -0.13790228
+v 0.03997585 -0.18377035 -0.13790235
+v 0.03997585 -0.17433177 -0.02678899
+v 0.06825531 -0.17468204 -0.02678899
+v 0.06825531 -0.18402796 -0.13790235
+v 0.04029422 -0.18377713 -0.13790235
+v 0.03997585 -0.18419520 -0.13381243
+v 0.03997585 -0.18710389 -0.02678904
+v 0.06825531 -0.18701576 -0.02678904
+v 0.06825531 -0.18410254 -0.13736935
+v 0.04173103 -0.18380199 -0.13790235
+v 0.04173103 -0.18422910 -0.13381243
+v 0.03997585 -0.18475344 -0.11430913
+v 0.04078977 -0.18710615 -0.02678904
+v 0.06825531 -0.18459970 -0.13381243
+v 0.06741924 -0.18703836 -0.02678904
+v 0.06825531 -0.18579756 -0.08180726
+v 0.04173103 -0.18710842 -0.02678904
+v 0.06825531 -0.18565066 -0.08830111
+v 0.06099650 -0.18709486 -0.02678904
+v 0.05457375 -0.18711519 -0.02678904
+v 0.04815378 -0.18711294 -0.02678904
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 20
+f 2 20 16
+f 2 16 11
+f 2 11 6
+f 3 7 8
+f 4 9 15
+f 4 15 19
+f 4 19 23
+f 4 23 22
+f 4 22 21
+f 4 21 17
+f 4 17 10
+f 4 10 5
+f 6 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 14 16
+f 9 16 15
+f 10 17 18
+f 11 16 12
+f 12 16 13
+f 13 16 14
+f 15 16 19
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 19
+f 17 21 18
+f 18 21 20
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_56.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abfaf0562098adc90af0ddb716161c9759a36b5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_56.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00012118 0.01624866 0.06664172
+v -0.02403940 0.01624864 0.06959082
+v -0.00012118 0.01624871 0.05291956
+v -0.00012118 0.06719996 0.06959101
+v -0.04037234 0.01624864 0.06959082
+v -0.00012118 0.01631701 0.05291788
+v -0.00958996 0.01624871 0.05304559
+v -0.01608373 0.02940316 0.05272468
+v -0.00966088 0.02940316 0.05267091
+v -0.00012118 0.09073592 0.06959109
+v -0.04037234 0.01624867 0.06347584
+v -0.04037234 0.08764879 0.06959108
+v -0.00012118 0.01967733 0.05285067
+v -0.01601281 0.01624870 0.05319010
+v -0.01608373 0.03594624 0.05260203
+v -0.01608373 0.01624870 0.05319178
+v -0.04037234 0.09917779 0.05242582
+v -0.00012118 0.02622041 0.05272803
+v -0.00966088 0.03594624 0.05256002
+v -0.00012118 0.15577060 0.06567264
+v -0.00119297 0.15577060 0.06568272
+v -0.03973006 0.15577060 0.06595158
+v -0.04037234 0.15577060 0.06595495
+v -0.00323410 0.09072226 0.06959109
+v -0.02803102 0.01624869 0.05622995
+v -0.04037234 0.08826354 0.05337521
+v -0.01345549 0.06211856 0.05242569
+v -0.02250264 0.01624870 0.05389923
+v -0.04037234 0.09480663 0.05259216
+v -0.04037234 0.15577065 0.05242603
+v -0.00012118 0.02940316 0.05267427
+v -0.00012118 0.03930657 0.05256843
+v -0.00012118 0.03594624 0.05259531
+v -0.00012118 0.03276349 0.05262723
+v -0.00966088 0.05926364 0.05242568
+v -0.00323410 0.05774740 0.05242567
+v -0.00152002 0.05741956 0.05242567
+v -0.00012118 0.05716002 0.05242567
+v -0.00012118 0.15577065 0.05262263
+v -0.04037234 0.09338601 0.05268458
+v -0.02597019 0.15577065 0.05242603
+v -0.00012118 0.10177317 0.05242583
+f 1 2 5
+f 1 5 11
+f 1 11 25
+f 1 25 28
+f 1 28 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 6
+f 1 6 13
+f 1 13 18
+f 1 18 31
+f 1 31 34
+f 1 34 33
+f 1 33 32
+f 1 32 38
+f 1 38 42
+f 1 42 39
+f 1 39 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 4 10
+f 2 10 24
+f 2 24 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 3 9 6
+f 5 12 23
+f 5 23 30
+f 5 30 17
+f 5 17 29
+f 5 29 40
+f 5 40 26
+f 5 26 11
+f 6 9 13
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 9 18 13
+f 9 15 19
+f 9 19 18
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 11 26 25
+f 12 24 23
+f 15 27 19
+f 15 17 27
+f 16 28 29
+f 16 29 17
+f 17 30 41
+f 17 41 42
+f 17 42 38
+f 17 38 37
+f 17 37 36
+f 17 36 35
+f 17 35 27
+f 18 19 31
+f 19 32 33
+f 19 33 34
+f 19 34 31
+f 19 27 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 32
+f 20 39 41
+f 20 41 30
+f 20 30 23
+f 20 23 22
+f 20 22 21
+f 25 26 40
+f 25 40 28
+f 28 40 29
+f 39 42 41
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_57.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83b7b8b6a8643630a620fa93c55c0e80ef68563
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_57.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.08999991 -0.00052760 -0.02906472
+v -0.09706516 -0.00052784 0.03520501
+v -0.07881689 -0.00052760 -0.02906472
+v -0.09000449 -0.13416797 -0.02906521
+v -0.09447953 -0.12762702 -0.01028372
+v -0.09438792 -0.12108599 -0.01028369
+v -0.09927977 -0.10142976 0.04170870
+v -0.09742014 -0.00052786 0.04170907
+v -0.07863596 -0.00052779 0.02221295
+v -0.07602972 -0.17099457 -0.02906535
+v -0.09000449 -0.14070899 -0.02906524
+v -0.08999304 -0.14725001 -0.02906526
+v -0.08997701 -0.15452522 -0.02906529
+v -0.08996326 -0.16033204 -0.02906531
+v -0.08994953 -0.16532124 -0.02906533
+v -0.08993808 -0.16857506 -0.02906534
+v -0.09421158 -0.13416804 -0.01028374
+v -0.09515742 -0.13416807 -0.00377968
+v -0.09933703 -0.10142979 0.04821275
+v -0.09930955 -0.12762721 0.04170860
+v -0.09938283 -0.12108621 0.04821268
+v -0.09937368 -0.11452851 0.04821270
+v -0.09936222 -0.10798749 0.04821272
+v -0.09941031 -0.10798750 0.05296631
+v -0.09938054 -0.10523427 0.05095889
+v -0.09937596 -0.10421640 0.05095890
+v -0.09935536 -0.10142980 0.05095891
+v -0.09746136 -0.00052789 0.04821312
+v -0.07872528 -0.00052782 0.02871701
+v -0.07817563 -0.02949519 0.02871690
+v -0.07737407 -0.17099474 0.01570826
+v -0.08977089 -0.17099457 -0.02906535
+v -0.07810693 -0.03603621 0.02871688
+v -0.09847592 -0.17099481 0.03520438
+v -0.09929352 -0.14070925 0.04170855
+v -0.09923626 -0.17099483 0.04170844
+v -0.09936909 -0.14070928 0.04821260
+v -0.09938054 -0.12762724 0.04821265
+v -0.09941948 -0.11452852 0.05296629
+v -0.09940116 -0.11452852 0.05095886
+v -0.09940573 -0.13036379 0.05095880
+v -0.09942635 -0.12585850 0.05296625
+v -0.09942406 -0.12108622 0.05296627
+v -0.09940116 -0.10621876 0.05296632
+v -0.09936681 -0.10142980 0.05296634
+v -0.09744533 -0.00052790 0.05296671
+v -0.08678906 -0.00052790 0.05296671
+v -0.07968029 -0.10142980 0.05296634
+v -0.07967114 -0.10208056 0.05296634
+v -0.07778630 -0.17099476 0.02221232
+v -0.09926833 -0.17099485 0.04578752
+v -0.09941948 -0.14070929 0.05296619
+v -0.09939886 -0.14070929 0.05095876
+v -0.09942177 -0.13892385 0.05296620
+v -0.07980397 -0.13416827 0.05296622
+v -0.07843214 -0.17099479 0.02871638
+v -0.09928665 -0.17099486 0.04821249
+v -0.09930039 -0.17099487 0.05296608
+v -0.08012001 -0.14069260 0.05296619
+v -0.08495461 -0.17099487 0.05296608
+f 1 2 8
+f 1 8 28
+f 1 28 46
+f 1 46 47
+f 1 47 29
+f 1 29 9
+f 1 9 3
+f 1 3 10
+f 1 10 32
+f 1 32 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+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 17
+f 5 17 18
+f 5 18 7
+f 5 7 6
+f 7 19 8
+f 7 18 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 19
+f 8 19 27
+f 8 27 28
+f 9 29 30
+f 9 30 10
+f 10 31 50
+f 10 50 56
+f 10 56 60
+f 10 60 58
+f 10 58 57
+f 10 57 51
+f 10 51 36
+f 10 36 34
+f 10 34 32
+f 10 30 33
+f 10 33 31
+f 16 32 34
+f 16 34 18
+f 16 18 17
+f 18 35 20
+f 18 34 36
+f 18 36 35
+f 19 26 27
+f 20 35 37
+f 20 37 38
+f 20 38 21
+f 21 39 40
+f 21 40 22
+f 21 38 41
+f 21 41 42
+f 21 42 43
+f 21 43 39
+f 22 40 24
+f 22 24 23
+f 24 44 26
+f 24 26 25
+f 24 40 39
+f 24 39 43
+f 24 43 42
+f 24 42 54
+f 24 54 52
+f 24 52 58
+f 24 58 60
+f 24 60 59
+f 24 59 55
+f 24 55 49
+f 24 49 48
+f 24 48 47
+f 24 47 46
+f 24 46 45
+f 24 45 44
+f 26 44 45
+f 26 45 27
+f 27 45 28
+f 28 45 46
+f 29 47 48
+f 29 48 30
+f 30 48 49
+f 30 49 33
+f 31 33 49
+f 31 49 50
+f 35 36 37
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 38
+f 38 53 54
+f 38 54 41
+f 41 54 42
+f 49 55 50
+f 50 55 56
+f 51 57 52
+f 52 54 53
+f 52 57 58
+f 55 59 56
+f 56 59 60
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_58.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88d47e8845d0d0bd3e28803cc42490907027325
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06207812 -0.16766261 0.05232731
+v -0.06207812 -0.16766261 0.05332731
+v -0.06207812 -0.15042204 0.05232731
+v -0.06207812 -0.15042204 0.05332731
+v -0.04037447 -0.16766261 0.05232731
+v -0.04037447 -0.16766261 0.05332731
+v -0.04037447 -0.15042204 0.05232731
+v -0.04037447 -0.15042204 0.05332731
+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/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_59.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54fa9fd247e4276757ba6cd50b537f50c918cabd
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_59.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 -0.17587344 -0.03272905
+v -0.01360522 -0.17587344 -0.03272905
+v -0.04037234 -0.18697869 -0.03272909
+v -0.04037234 -0.17587352 -0.01066584
+v -0.01489373 -0.17997352 -0.03272906
+v -0.00012118 -0.17587351 -0.01442500
+v -0.00012118 -0.17587815 -0.01443334
+v -0.00012118 -0.17997358 -0.01679220
+v -0.00012118 -0.18314784 -0.01746736
+v -0.00012118 -0.18651699 -0.01816754
+v -0.00012118 -0.18968894 -0.01759242
+v -0.00012118 -0.19305578 -0.01696729
+v -0.03824453 -0.18695316 -0.03272909
+v -0.00012118 -0.19722085 -0.01470013
+v -0.00966088 -0.19723011 -0.01470013
+v -0.01608373 -0.19722548 -0.01468346
+v -0.02250264 -0.19708394 -0.01446675
+v -0.02660065 -0.19674052 -0.01401665
+v -0.03319294 -0.19694706 -0.00817369
+v -0.03922175 -0.19684033 -0.00147220
+v -0.04037234 -0.19709328 0.00081997
+v -0.04037234 -0.17845400 0.05242312
+v -0.02786158 -0.17587367 0.03061830
+v -0.01768747 -0.18451678 -0.03272908
+v -0.00012118 -0.17587370 0.03680300
+v -0.03182168 -0.18687428 -0.03272909
+v -0.02892549 -0.18683715 -0.03272909
+v -0.02539883 -0.18658655 -0.03272909
+v -0.02250264 -0.18629418 -0.03272908
+v -0.01976406 -0.18529643 -0.03272908
+v -0.00012118 -0.19745985 -0.01029083
+v -0.03534834 -0.19955754 0.01570659
+v -0.04037234 -0.19957844 0.01570659
+v -0.02250264 -0.19753875 -0.01029083
+v -0.04037234 -0.19905633 0.01063046
+v -0.02881516 -0.19724638 -0.01031583
+v -0.04037234 -0.19877556 0.00917181
+v -0.03534046 -0.19735545 -0.00369770
+v -0.04037234 -0.19943006 0.05242305
+v -0.00012118 -0.17842151 0.05242312
+v -0.00062161 -0.17587370 0.03680300
+v -0.00194165 -0.17587370 0.03676966
+v -0.00323410 -0.17587369 0.03673632
+v -0.00680016 -0.17587369 0.03658629
+v -0.01608373 -0.17587369 0.03616120
+v -0.01899963 -0.17587369 0.03595282
+v -0.02250264 -0.17587369 0.03562774
+v -0.02694741 -0.17587368 0.03355229
+v -0.00012118 -0.19842304 0.05242305
+v -0.04037234 -0.19955303 0.04821378
+v -0.03762195 -0.19941845 0.05242305
+v -0.04037234 -0.19953679 0.04963910
+f 1 2 5
+f 1 5 24
+f 1 24 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 13
+f 1 13 3
+f 1 3 21
+f 1 21 37
+f 1 37 35
+f 1 35 33
+f 1 33 50
+f 1 50 52
+f 1 52 39
+f 1 39 22
+f 1 22 4
+f 1 4 23
+f 1 23 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 25
+f 1 25 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 4 22 23
+f 5 12 24
+f 6 25 40
+f 6 40 49
+f 6 49 31
+f 6 31 14
+f 6 14 12
+f 6 12 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 12 14 24
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 24
+f 14 31 32
+f 14 32 33
+f 14 33 15
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 18 36 19
+f 19 36 35
+f 19 35 37
+f 19 37 38
+f 19 38 21
+f 19 21 20
+f 21 38 37
+f 22 39 51
+f 22 51 49
+f 22 49 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 22 43 44
+f 22 44 45
+f 22 45 46
+f 22 46 47
+f 22 47 48
+f 22 48 23
+f 25 41 40
+f 31 49 32
+f 32 49 50
+f 32 50 33
+f 33 35 34
+f 39 52 51
+f 49 51 52
+f 49 52 50
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_6.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b170c2d59bc666a9ae4338a40f2b40eb986a673
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.01948372 -0.16484219 -0.13166602
+v -0.01987634 -0.16256999 -0.13166601
+v -0.01960436 -0.16640815 -0.13166602
+v -0.01983748 -0.16640814 -0.13325547
+v -0.02118507 -0.16688404 -0.14031984
+v -0.02239974 -0.08184570 -0.14031953
+v -0.02363895 -0.02949315 -0.14031934
+v -0.02367371 -0.02814211 -0.14031933
+v -0.02390274 -0.02814212 -0.13941929
+v -0.02493337 -0.02814213 -0.13611402
+v -0.02892705 -0.02814214 -0.13469694
+v -0.02447940 -0.15523141 -0.13166598
+v -0.01966980 -0.16719113 -0.13166602
+v -0.02028736 -0.17082972 -0.13166604
+v -0.02114008 -0.17342431 -0.13381850
+v -0.02245495 -0.17342428 -0.14031987
+v -0.02452439 -0.17342427 -0.14525288
+v -0.02382912 -0.16688402 -0.14628693
+v -0.02374324 -0.16032844 -0.14651481
+v -0.02389456 -0.06874986 -0.14631339
+v -0.02393341 -0.06220963 -0.14629805
+v -0.02401521 -0.05566940 -0.14625781
+v -0.02431376 -0.03603336 -0.14611410
+v -0.02441601 -0.02949313 -0.14605855
+v -0.02428718 -0.02814210 -0.14486168
+v -0.03265899 -0.02814213 -0.13543038
+v -0.04037234 -0.17175087 -0.13166604
+v -0.02851603 -0.15520072 -0.13166598
+v -0.02784939 -0.15483225 -0.13166598
+v -0.02082517 -0.17331685 -0.13166605
+v -0.02267989 -0.17709360 -0.13166606
+v -0.02391910 -0.17907409 -0.13381852
+v -0.02463072 -0.17815288 -0.14031988
+v -0.02531576 -0.17723173 -0.14416326
+v -0.02809478 -0.17342425 -0.14850261
+v -0.02685353 -0.16688401 -0.14953667
+v -0.02646704 -0.16032843 -0.14976644
+v -0.02713572 -0.06220962 -0.14954970
+v -0.02719298 -0.04912916 -0.14946921
+v -0.02724615 -0.03603335 -0.14936575
+v -0.02728909 -0.02949312 -0.14931020
+v -0.02411745 -0.04912917 -0.14621756
+v -0.02502743 -0.02814209 -0.14671539
+v -0.02445691 -0.02814209 -0.14603747
+v -0.03365281 -0.02814213 -0.13565252
+v -0.04037234 -0.18495416 -0.13166609
+v -0.04037234 -0.02814212 -0.13963376
+v -0.02378822 -0.17921226 -0.13166607
+v -0.02692101 -0.18248238 -0.13166608
+v -0.02709892 -0.18234420 -0.13381853
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_60.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf56b733ae01eb6ab67f193d4c2692b5385f883
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_60.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 -0.17304943 -0.03272904
+v -0.04037234 -0.17587123 -0.03272905
+v -0.04037234 -0.17342067 -0.02978857
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+v -0.02122989 -0.15575415 0.00270643
+v -0.02117079 -0.15576738 -0.00378711
+v -0.02112744 -0.15580933 -0.01028746
+v -0.02108016 -0.15585572 -0.01678781
+v -0.02098953 -0.15595071 -0.02328815
+v -0.02061125 -0.15624899 -0.02978850
+v -0.02021721 -0.15650974 -0.03272897
+v -0.01360522 -0.17587123 -0.03272905
+v -0.04037234 -0.17587131 -0.01066871
+v -0.04037234 -0.17570558 -0.01170332
+v -0.02786158 -0.17587146 0.03062041
+v -0.02694741 -0.17587147 0.03355408
+v -0.02005171 -0.15662923 0.01285513
+v -0.01608373 -0.15453440 0.00920678
+v -0.01608373 -0.15397091 0.00270643
+v -0.01608373 -0.15402392 -0.00378711
+v -0.01608373 -0.15415646 -0.01028746
+v -0.01608373 -0.15433543 -0.01678781
+v -0.01608373 -0.15466907 -0.02328815
+v -0.01608373 -0.15559492 -0.02978850
+v -0.01608373 -0.15626445 -0.03272897
+v -0.00012118 -0.16730639 -0.03272901
+v -0.00012118 -0.17587130 -0.01442598
+v -0.02250264 -0.17587148 0.03562330
+v -0.02677403 -0.17566376 0.03339072
+v -0.01608373 -0.15608785 0.01324312
+v -0.00966088 -0.15388033 0.00920678
+v -0.00966088 -0.15339858 0.00270644
+v -0.00966088 -0.15348916 -0.00378710
+v -0.00966088 -0.15363497 -0.01028745
+v -0.00966088 -0.15387803 -0.01678781
+v -0.00966088 -0.15440832 -0.02328815
+v -0.00012118 -0.15575403 -0.02978850
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+v -0.00012118 -0.15428458 -0.02328815
+v -0.00012118 -0.15665557 -0.03272898
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+v -0.00323410 -0.15368799 -0.01678780
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+v -0.00323410 -0.15572103 0.01350858
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+v -0.00680016 -0.17587148 0.03658984
+v -0.00323410 -0.17587148 0.03673278
+v -0.00194165 -0.17587149 0.03676682
+v -0.00012118 -0.15385381 0.00920678
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+v -0.00012118 -0.15332125 0.00270644
+v -0.00012118 -0.15334113 -0.00043823
+v -0.00012118 -0.15340960 -0.00693858
+v -0.00012118 -0.15345820 -0.01028745
+v -0.00012118 -0.15356204 -0.01344573
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+f 1 7 8
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_61.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d29f930cb306f155d185330f4bbd6bac092a37d
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_61.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04177486 -0.19959779 0.04822235
+v -0.06279282 -0.19507885 0.04172122
+v -0.04177486 -0.19945490 0.02546319
+v -0.04037235 -0.19955298 0.04822235
+v -0.04037235 -0.19953618 0.04964059
+v -0.04037235 -0.19934022 0.05471831
+v -0.04177486 -0.19934583 0.05471831
+v -0.06279282 -0.19515170 0.05471832
+v -0.06279282 -0.19481567 0.03995101
+v -0.04700960 -0.19799339 0.02546319
+v -0.04087716 -0.19942411 0.02546319
+v -0.04037235 -0.19940450 0.02546319
+v -0.04037235 -0.19927584 0.05613655
+v -0.04037235 -0.19736081 0.06756014
+v -0.06279282 -0.19463655 0.06121947
+v -0.06279282 -0.19407370 0.03522009
+v -0.06279282 -0.19143624 0.02964031
+v -0.06279282 -0.18913197 0.02546323
+v -0.04037235 -0.17981699 0.02546326
+v -0.04037235 -0.19733000 0.06767919
+v -0.06279282 -0.19267950 0.06581064
+v -0.04037235 -0.19645928 0.07079518
+v -0.06279282 -0.17818470 0.02546327
+v -0.04819702 -0.17868586 0.02546326
+v -0.04037235 -0.17099767 0.05336746
+v -0.06279282 -0.19194035 0.06753944
+v -0.04037235 -0.19524415 0.07223413
+v -0.06279282 -0.18965851 0.07079003
+v -0.06279282 -0.19028288 0.06990492
+v -0.04416506 -0.17099767 0.05336746
+v -0.04177486 -0.17099767 0.05334158
+v -0.04110762 -0.17099767 0.05335193
+v -0.06104133 -0.17819310 0.02546327
+v -0.06279282 -0.17099767 0.05379189
+v -0.06104133 -0.17099767 0.05373496
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+v -0.06104133 -0.17997397 0.07791751
+v -0.06279282 -0.17997397 0.07787610
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
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+f 50 55 51
+f 50 54 53
+f 50 53 52
+f 50 52 55
+f 51 55 56
+f 52 56 55
+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_62.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e9148509ebfe7da3af674658e4a8c81a8178c33
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_62.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.03997556 -0.19937916 0.04822281
+v 0.03997556 -0.19899494 0.02595337
+v 0.04172917 -0.19936514 0.04822281
+v 0.03997556 -0.19920813 0.05472236
+v 0.03997556 -0.18020277 0.02595344
+v 0.04098222 -0.19898093 0.02595337
+v 0.04172917 -0.19896691 0.02595337
+v 0.06524100 -0.19495448 0.04172328
+v 0.06524100 -0.19497133 0.04822282
+v 0.06524100 -0.19498257 0.05472237
+v 0.06524100 -0.19476387 0.06122191
+v 0.04172917 -0.19907635 0.05472236
+v 0.03997556 -0.19762114 0.06772145
+v 0.04815251 -0.17935597 0.02595344
+v 0.03997556 -0.17073668 0.05264178
+v 0.04454139 -0.19832198 0.02595337
+v 0.06524100 -0.19434039 0.03522374
+v 0.06524100 -0.19308713 0.06551719
+v 0.03997556 -0.19750338 0.06823647
+v 0.05088805 -0.17914568 0.02595344
+v 0.03997556 -0.17073675 0.06979708
+v 0.04172917 -0.17073668 0.05260573
+v 0.06524100 -0.17875592 0.02595344
+v 0.06373225 -0.17877274 0.02595344
+v 0.06099670 -0.17881201 0.02595344
+v 0.05730891 -0.17887089 0.02595344
+v 0.05457337 -0.17893537 0.02595344
+v 0.04654977 -0.19784531 0.02595337
+v 0.06524100 -0.19347957 0.03314306
+v 0.06524100 -0.19222071 0.06772147
+v 0.03997556 -0.19536957 0.07203218
+v 0.03997556 -0.17283972 0.07422625
+v 0.06524100 -0.17400057 0.07422624
+v 0.04172917 -0.17073675 0.06961683
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_63.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdba275ff503c47de5d22938b7da13e65f7bbd86
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_63.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01345348 0.05715505 0.05183838
+v -0.01345348 0.05715505 0.05283838
+v -0.01345348 0.10177940 0.05183838
+v -0.01345348 0.10177940 0.05283838
+v -0.00011724 0.05715505 0.05183838
+v -0.00011724 0.05715505 0.05283838
+v -0.00011724 0.10177940 0.05183838
+v -0.00011724 0.10177940 0.05283838
+f 2 4 1
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+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/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_64.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c316380bb0693595f3bb3d4da3f72520cb93ce
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_64.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_65.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf29ff7172adb47cb7b7c686d7eb30d79d57f1a0
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_65.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.06258212 0.17615708 0.07775948
+v 0.06258212 0.17684397 0.07775948
+v 0.06258212 0.17407665 0.07422853
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_66.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23803862021f955a9365c1f6aee2a3dfa2920811
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_66.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_67.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4830ba84b9f4edf93d6a26f867317d751efa5a6a
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_67.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00318909 0.09140273 0.06926605
+v 0.00318909 0.08946567 0.07874710
+v 0.00428929 0.09122210 0.06926605
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_68.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7213440d2ad6dc10eb0ae756dcaed8de79811d4
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_68.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00011724 0.18641440 -0.01812923
+v -0.00011724 0.17987478 -0.01606550
+v -0.00011724 0.19295684 -0.01688932
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_69.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc575172f955fadf911075e2fdc3fd4788e28bea
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_69.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_7.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa5539895ef44b9dc2b9b7d696848dced33d2d4
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_70.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952eb84d84333ef595312fb40fdc11fff1c30da8
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_70.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_71.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a0be25bf9cb42cd83dd6a06b0caffecdae3ad5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_71.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01566404 0.16686050 -0.11087793
+v -0.01617194 0.16434232 -0.11087794
+v -0.01889769 0.16264397 -0.12606990
+v -0.01989415 0.16679140 -0.13336212
+v -0.01902588 0.17094222 -0.12574411
+v -0.01865826 0.17200414 -0.12081585
+v -0.01788431 0.17351571 -0.11087790
+v -0.01687817 0.16104930 -0.11087795
+v -0.02364297 0.15411052 -0.13336216
+v -0.02136224 0.16023650 -0.13336214
+v -0.02106475 0.16104591 -0.13336214
+v -0.02085192 0.17332208 -0.13336209
+v -0.01978048 0.17527639 -0.12081584
+v -0.01948299 0.17613077 -0.11589859
+v -0.01924114 0.17668074 -0.11156243
+v -0.01920244 0.17673263 -0.11087789
+v -0.01905974 0.16005309 -0.11087795
+v -0.02883326 0.14950306 -0.13336218
+v -0.02378566 0.15398253 -0.13336216
+v -0.02374697 0.17892228 -0.13336207
+v -0.02338660 0.17924049 -0.12731346
+v -0.02237321 0.18004639 -0.11087788
+v -0.02250381 0.15919870 -0.11087796
+v -0.04037234 0.17095263 -0.13336210
+v -0.02473859 0.16019145 -0.11087795
+v -0.02714508 0.16149898 -0.11087795
+v -0.04037234 0.17175851 -0.11087791
+v -0.02401059 0.17915403 -0.13336207
+v -0.02601560 0.18304196 -0.11631017
+v -0.02562379 0.18320796 -0.11197621
+v -0.02299237 0.17956562 -0.12081582
+v -0.02556575 0.18324602 -0.11087787
+v -0.04037234 0.18413161 -0.13336205
+v -0.04037234 0.18483718 -0.11087786
+v -0.02765299 0.18219454 -0.13336206
+v -0.03086245 0.18360584 -0.13336206
+v -0.02870507 0.18400700 -0.11087786
+v -0.04037234 0.18429071 -0.12873315
+v -0.03534894 0.18452243 -0.12081580
+v -0.03534894 0.18409010 -0.13336205
+v -0.03874463 0.18482680 -0.11087786
+v -0.04037234 0.18475417 -0.11431377
+v -0.03121073 0.18364734 -0.13336206
+v -0.03534894 0.18471266 -0.11431377
+v -0.03534894 0.18479221 -0.11087786
+v -0.04037234 0.18433913 -0.12731344
+v -0.04037234 0.18455702 -0.12081580
+v -0.04037234 0.18471267 -0.11573127
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_72.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd8c13fd05551b23ed6f68a3719606c3f139d35
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_72.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00011767 -0.06595416 0.06870747
+v -0.01689440 -0.07529075 0.06936485
+v -0.01558048 -0.06926006 0.06936488
+v -0.00965490 -0.06714739 0.06936488
+v -0.00323418 -0.06758649 0.07856866
+v -0.00011767 -0.06754775 0.07874652
+v 0.00318978 -0.06596191 0.06870747
+v -0.00011767 -0.09233938 0.06870737
+v -0.01684585 -0.08183023 0.06936483
+v -0.01393646 -0.07529079 0.07856863
+v -0.01338630 -0.07115841 0.07856865
+v -0.00965490 -0.06853952 0.07856866
+v -0.00011767 -0.08945709 0.07874644
+v 0.00110887 -0.06755291 0.07874652
+v 0.00318978 -0.06756324 0.07874652
+v 0.00460079 -0.06603939 0.06870747
+v -0.00973904 -0.08979797 0.06936480
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+v -0.01682644 -0.08191805 0.06936483
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+v -0.00536687 -0.08889406 0.07856858
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+v 0.01350372 -0.07728724 0.07874649
+v 0.01324482 -0.08183027 0.07874647
+v 0.01616715 -0.07564458 0.06870743
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+
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_73.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07853c1b4d19dd7b82bd5a8380dfe32f2559eca0
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_73.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04037234 0.15034737 0.05179440
+v -0.04037234 0.15034737 0.05279440
+v -0.04037234 0.17323252 0.05179440
+v -0.04037234 0.17323252 0.05279440
+v -0.02345156 0.15034737 0.05179440
+v -0.02345156 0.15034737 0.05279440
+v -0.02345156 0.17323252 0.05179440
+v -0.02345156 0.17323252 0.05279440
+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/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_74.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e9efd07ab150fafb89169c7dc343dd00cd25d1
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_74.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.06524101 -0.17997397 0.07805186
+v 0.06524101 -0.17738851 0.07797351
+v 0.06524101 -0.18345698 0.07761759
+v 0.06742320 -0.18343079 0.07759800
+v 0.07184630 -0.18334031 0.07753923
+v 0.06742320 -0.17997397 0.07801594
+v 0.07384583 -0.17570772 0.07785596
+v 0.06524101 -0.17603626 0.07791474
+v 0.06524101 -0.18672807 0.07430676
+v 0.07384583 -0.18988253 0.07109715
+v 0.07768505 -0.18986110 0.07106776
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+v 0.07393064 -0.18041441 0.07781677
+v 0.07876474 -0.17852650 0.07771882
+v 0.07876474 -0.17578391 0.07771883
+v 0.08049027 -0.17073676 0.07662178
+v 0.06524101 -0.17400072 0.07422518
+v 0.07579969 -0.17073676 0.07500228
+v 0.06524101 -0.18984920 0.07105470
+v 0.06742320 -0.18985872 0.07106776
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+v 0.06524101 -0.19222038 0.06772429
+v 0.07384583 -0.19225848 0.06772429
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_75.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde38c9e23cf03e782e3910347065001b7369fef
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_75.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_8.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9202941f3ea27b752a6e48530e12c86bb095a718
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_8.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_9.obj b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2613eb33b12edc43a648728226f607872f05ea5
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/mjcf/mesh/toolbox_32_collision_9.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/textures/material_0.png b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ec9cdf5fd27349ea9505b005fe38da7a157d241
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1177872
diff --git a/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/video.mp4 b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7c9f670d4dab379635e30b1ce2dbd241d06bd8
--- /dev/null
+++ b/dataset/tools/repair_tools/9ece9cdd41c65b14bb0b69deca099b96/video.mp4
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+version https://git-lfs.github.com/spec/v1
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