diff --git a/.gitattributes b/.gitattributes
index b45e9fd2692d97fcd7608481dccbe07e536cf4a8..20d775a606fff2373785b40ae317043c19d8c734 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5073,7 +5073,5 @@ dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/hex_key_005.usd filt
 dataset/tools/repair_tools/22c72bda21745483ad7284b1d5068177/mesh/hex_key_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/1ee3eca8561a5dc2ab466751eeefba93/glue_gun_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/1ee3eca8561a5dc2ab466751eeefba93/mesh/glue_gun_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/glue_gun_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/254f9d1aeed4568a8e293ed70e218128/mesh/glue_gun_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/mesh/screwdriver_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/265ed69f011f54e29ff8f5e7f20a6531/screwdriver_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.urdf b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e82554881b2f8c73dfa757c69140e28c45cb347
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_023">
+   <link name="measuring_tape_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>25e9dd29b31356e6a5665b829e97cb6f</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>retractable tape</name>
+         <color>black,orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>black and orange retractable measuring tape with metal belt clip</description>
+         <min_height>0.0653</min_height>
+         <max_height>0.0653</max_height>
+         <real_height>0.0653</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205756</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.074990 -0.055228 -0.028720</min>
+            <max>0.065010 0.063392 0.036558</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.usd b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2ae2693ec60a25620238ad5adf7f3f59e10b6615
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/measuring_tape_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7172147bddc4a330da86e04a86a8c8446459bf45a14de76e81ef3ada32632b0
+size 4996647
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material.mtl b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8664a61d2f5e9b67d5d93a1e5e1589ffd66515ba
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material_0.png b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6820052a27f082788a75fd60b3dc747e7c7f040e
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa1c523b230a7839229636cefe27e1215cfff9d4a880c140744636051dab6b2
+size 10545659
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.glb b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..861fb88a4ac13d6a6184ca0984dcd7a542fd3205
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0702ea23150977a652f438cd73c5d88fdbe2aa9fb27c9b4fa1cbf833e997e4
+size 14024456
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.mtl b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11adb4b612ae8bde9dfaab3a32ddbd876be7f0f2
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.mtl
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+newmtl measuring_tape_023_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/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e94719d646283260677e78bfe04bc8d34f72a57b
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023.obj
@@ -0,0 +1,117906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_023_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_collision.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89ea8941c34929ff33858c6980793b35d915c28
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_collision.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_geometry_Looks_material_0.png b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6820052a27f082788a75fd60b3dc747e7c7f040e
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mesh/measuring_tape_023_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa1c523b230a7839229636cefe27e1215cfff9d4a880c140744636051dab6b2
+size 10545659
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/measuring_tape_023.xml b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/measuring_tape_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..287bc834b34910ad58346367cd8088bf1361316c
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/measuring_tape_023.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_023">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
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+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/measuring_tape_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/measuring_tape_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/measuring_tape_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/measuring_tape_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_18" file="mesh/measuring_tape_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/measuring_tape_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_023">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6820052a27f082788a75fd60b3dc747e7c7f040e
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa1c523b230a7839229636cefe27e1215cfff9d4a880c140744636051dab6b2
+size 10545659
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16f6d92e14ede9b11009f6a9fed3fb1e6436b11
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_023_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764136399a111d92e95142c4ed29d5813fabbb93
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision.obj
@@ -0,0 +1,13360 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_0.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443323b1dd824ad6ff274678c204e992f20a18da
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_0.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_1.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f178cd4461fc39cc1b569d5a365e516bfbd9f9
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_1.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_10.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fcda91961688b350c396aab5cf9026136ae329
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_10.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_11.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf9180e5889944b7a69a59ae528ada7b394ee86
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_11.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_12.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35252667510b1cbf5b72afe32074cca4d2faae1a
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_12.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_13.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e00df0e1bbe8f05bc18d3413d5b4acc5b10de4b4
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_13.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_14.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510fcada7183788484ea5f0c25f276851a8a5b0a
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_14.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_15.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d129138cf5f5162666e1418d5397a08bccb65f74
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_15.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_16.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bbc82a2fdb4b91469d23c96adb06c49d195996
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_16.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02431253 -0.00978665 -0.02785507
+v 0.00700485 -0.00978665 -0.02784296
+v 0.00700485 -0.00786467 -0.02784295
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+v 0.02396692 0.01200574 -0.02781867
+v 0.02431253 0.01200574 -0.02781867
+v 0.02431253 -0.00978685 0.02757294
+v 0.00700485 -0.00978686 0.03065429
+v 0.00700485 0.01200554 0.02757907
+v 0.02431253 0.01200554 0.02757907
+v 0.02431253 0.00113921 0.02801490
+v 0.02273695 0.01200552 0.03311219
+v 0.02064973 -0.00591730 0.03102359
+v 0.02037019 -0.00744891 0.03090251
+v 0.02120542 -0.00978686 0.02955857
+v 0.00775875 -0.00978686 0.03065429
+v 0.01468454 0.01200552 0.03398998
+v 0.00700485 -0.00809526 0.03089040
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+v 0.02175772 0.01200552 0.03354806
+v 0.02431253 0.00531808 0.02816021
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+v 0.00700485 -0.00521549 0.03110834
+v 0.00700485 -0.00631620 0.03113256
+v 0.02112748 0.00975930 0.03338461
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 10
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+f 1 24 22
+f 1 22 11
+f 1 11 7
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+
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_17.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf21f4b5333d1aab1b48dcc291f9a8de96136535
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_17.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01109314 -0.00978665 -0.02785676
+v -0.01109314 0.01200574 -0.02781430
+v -0.01070518 -0.00978665 -0.02785676
+v -0.01109314 -0.00978685 0.02802513
+v 0.00700485 0.01200574 -0.02781430
+v -0.01109314 0.01200554 0.02752881
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+v -0.01053334 -0.00978686 0.02861840
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+v 0.00700485 0.01200554 0.02757724
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+v 0.00700485 -0.00978686 0.03065245
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+v -0.00713908 -0.00978686 0.03042846
+v -0.00762094 -0.00631620 0.03102174
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+
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_18.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de3776289c2a17602abb8a38421eb9a8cf65497
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_18.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00688525 0.01960492 0.02811585
+v 0.00964222 0.01200760 0.02811582
+v 0.00688525 0.02070199 0.03434960
+v 0.00688525 0.03303146 0.02811590
+v 0.01370091 0.01200554 0.02811582
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+
diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_19.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d233ff4cbb00f45ee5de1cc08822c87048e7cb
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.01070909 0.02583933 0.02811587
+v -0.01048520 0.02367401 0.02811587
+v -0.00852013 0.01200552 0.03203755
+v -0.00852357 0.01205904 0.03203755
+v -0.00843918 0.02583930 0.03429584
+v -0.01070909 0.02602869 0.02811588
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+v -0.00813262 0.01200554 0.02811582
+v -0.00849085 0.01200553 0.02974043
+v -0.00776062 0.01200552 0.03354801
+v -0.00776406 0.01205904 0.03355214
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_2.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8099215fbe41d8ea072e7d967598bf830cb6a7b
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_2.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_3.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d060bdf1acf0209fc2f32bfab2a5ca42983c8e10
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_3.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_4.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc5abcd45c58d3310f5286d927a361aed497d6
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_5.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8981de38fbe829f22029f8166c189e134549eb58
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_5.obj
@@ -0,0 +1,1153 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_6.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2aaf1296eb3344241011a27da6d3eaa26c22744
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_6.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_7.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed212b055a383894ba184e12d26f0007d59984a0
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_7.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_8.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6cb61c9ac45675944b158dd9f0f942db9479fe
--- /dev/null
+++ b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_8.obj
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diff --git a/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_9.obj b/dataset/tools/repair_tools/25e9dd29b31356e6a5665b829e97cb6f/mjcf/mesh/measuring_tape_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8259d24d44f8f4d07af6522a6da0989d5f13089
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