diff --git a/.gitattributes b/.gitattributes
index bf5568a4a9189a5e72bdfeaf446121cee7592a37..49968cd20726e4409e029607c6c52648ec47a071 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5119,3 +5119,5 @@ dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/mesh/wrench_036.glb
 dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/wrench_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/mesh/mini_hammer_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/8a449e43d17c5c898b0f4b5dcc4396af/mini_hammer_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.urdf b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b0e90efeda0730aa28e868dfe4373147be5cf9c4
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_019">
+   <link name="measuring_tape_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_019.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>9081c410fdac5cfc92433d0c49a50211</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>tape measure</name>
+         <color>black,red</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact red and black tape measure with metal belt clip</description>
+         <min_height>0.0643</min_height>
+         <max_height>0.0643</max_height>
+         <real_height>0.0643</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205611</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.067601 -0.059636 -0.032153</min>
+            <max>0.072399 0.066054 0.032141</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Case and top panel are separated reasonably, but the tape blade, hook, and lock slider are missing; unsupported by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..22c3bb6a24d5beafaf4f80bf6b2b840de71d2af7
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/measuring_tape_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cef3eb9e6a93a807fd23ded54d4b8f2554af0a484730d9cac01798b27517c52
+size 5009047
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material.mtl b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4549e943483af67de3ad14b5e430fda36c22137
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_019_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd measuring_tape_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material_0.png b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f226174783d2b8325c04a9e03c71b74732570dc1
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293a5e170f93e710f97ebccdf9d5082ec172a2e1d7a8fb2a755c136b2807cac7
+size 11393783
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..958b118fb244b7ab11f3435f465c4a78d5c370ac
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1580d983386a94351f7b6958fec216d9352f68ca76f85fc2541e53c7d3ffc0c5
+size 14886636
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.mtl b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf4b198064cb92749977002bb17c7171e0ed302b
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_019_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc45b32b7e55fe8b76814216511fca7b05db109
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019.obj
@@ -0,0 +1,120332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_019_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019_collision.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811095691220d2ef97acc53e579effd5bf137b27
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mesh/measuring_tape_019_collision.obj
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+    <mesh name="collision_mesh_0_34" file="mesh/measuring_tape_019_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="measuring_tape_019">
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293a5e170f93e710f97ebccdf9d5082ec172a2e1d7a8fb2a755c136b2807cac7
+size 11393783
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e2609dcf2bf2a2fcd494781fe2c338bb7b0482
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019.obj
@@ -0,0 +1,120332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_019_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451d5f972913865ee322a5df3d9cc95cb6648085
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision.obj
@@ -0,0 +1,14950 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_0.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666a54f06d113ba2e725e52604ee684b7c07823c
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_0.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_1.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2a3b528717ee69b2ca271fbe2fca45613e1968
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_1.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_10.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7217502ae757995f3b91d1925f1fc413310ae926
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_10.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_11.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77a399c3aef232145328dd340d110b6b72ca455
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_11.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_12.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a97e8cc657810ad602753023eafc781b0a1b20
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+v -0.04261760 -0.02566956 -0.03227120
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_13.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cc32d7286035e6f75e8df998aced804102fc9c
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_13.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.06178822 -0.00285318 0.01250126
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_14.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460a0d258e1cbc2fbafb0f089959bfe5482bba97
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_14.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_15.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b2c355c945f233558f85f9920e8cbee685f092
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_15.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_16.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cae44b6cbcf6db7c9ae6076e5655485d4ad43cd
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_16.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_17.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c0d3c5685a3045e3d8239ea7c3d901b87353be
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_17.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_18.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3286de6d59299e1949d98f42a39c45e054f77646
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_18.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.06042471 -0.00623743 -0.00000887
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_19.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a794518b0e6bfe5f076d33021ddd6e68780f7c
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_2.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6070f03b509fd4ff0745ccf7167cf502196557
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_2.obj
@@ -0,0 +1,2770 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_20.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3d000d1ff733545caeb3b22ed20f7cd3f9a699
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_21.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50c6a98698ce1d1cab7a34fe3f1076b8b04440a
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_21.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_22.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a973afa7c59ce9746a730c0d44ee9f7c259d7d85
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_22.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_23.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1ace1104aa0149da000535071650da9440efda
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_23.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_24.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e592a5d7f52fdc857fbe43e0fc691571932eaacd
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_24.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_25.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd15df58eda3bfd3f7cf8a55207dabfe7061b5a8
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_25.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_26.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9c4e456733948749d862954c52f13b3590dde3
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_26.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_27.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4742ec1957d3009b72c27b2353f57db108ead07
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_27.obj
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_28.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6d124a17303ba5ea56ab64a72c5508bafb975e
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_28.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_29.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3203385003b2ca2c0e434cd820e4075a52f4f6ee
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_29.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_3.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77453f865aad69a6b9c3288b79dad5a1b2ffd751
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_3.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_30.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1745d199036ccb24149e31052add2890ca2a37bc
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06950290 -0.04978106 -0.02794388
+v 0.06950290 -0.04978106 0.00326199
+v 0.06950290 -0.03131995 -0.02794388
+v 0.06950290 -0.03131995 0.00326199
+v 0.07050290 -0.04978106 -0.02794388
+v 0.07050290 -0.04978106 0.00326199
+v 0.07050290 -0.03131995 -0.02794388
+v 0.07050290 -0.03131995 0.00326199
+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/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_31.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd81a9fb91badf5888945c63e066784fd6408412
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06950290 -0.04978115 0.00326194
+v 0.06950290 -0.04978115 0.02795116
+v 0.06950290 -0.03133087 0.00326194
+v 0.06950290 -0.03133087 0.02795116
+v 0.07050290 -0.04978115 0.00326194
+v 0.07050290 -0.04978115 0.02795116
+v 0.07050290 -0.03133087 0.00326194
+v 0.07050290 -0.03133087 0.02795116
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_32.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c5061749225cb1ceb26b19c05ef3a2620a54aa
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.06911297 -0.03010169 0.01918988
+v 0.06965235 -0.03132628 0.00121009
+v 0.06965235 -0.03132628 0.00112349
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_33.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50117e5e19f909772af9f5fd9332272491c1c794
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_33.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
+v -0.05995309 -0.03871871 0.02461748
+v -0.05995309 -0.03871871 0.02496166
+v -0.05995309 -0.03842573 0.02446976
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_34.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70497571517f8d73cd27a59eec80b3cde20bd257
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_34.obj
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_4.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ce3e5c2cb963f142a8208a3186315f19a181c5
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_4.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.05964022 0.02478312 -0.01500340
+v 0.05964022 0.02509382 -0.01496519
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+v 0.05964022 0.03443492 -0.01331625
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+v 0.06700054 0.02620538 0.00563583
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_5.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cbca26d91efcbe4b12fbd260a3b5efa7ce919dc
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_5.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.06386848 0.00894933 -0.01919627
+v 0.06313368 0.00894932 -0.01710001
+v 0.06376782 0.00894934 -0.02145354
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_6.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c2415247d374a3a5252a6c467e347ebfde4b52
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.06386259 0.00893938 0.01918014
+v 0.06340578 0.01124916 0.01918015
+v 0.06331723 0.01124915 0.02143590
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_7.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa52466975e0fcc2cfdedc7c0f6dcc552813c60
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_7.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_8.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ce2526e6a4bb275da758480985451c33cdf3cc
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_8.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.06571609 -0.00285306 -0.01918937
+v 0.06559543 -0.00285305 -0.02119466
+v 0.06554717 -0.00259428 -0.02144730
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diff --git a/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_9.obj b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed3582b84cbcf496f32aec641899d931efde086
--- /dev/null
+++ b/dataset/tools/repair_tools/9081c410fdac5cfc92433d0c49a50211/mjcf/mesh/measuring_tape_019_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.07035352 -0.05909728 0.01240536
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