diff --git a/.gitattributes b/.gitattributes
index 5413ef9a4b353f0ff827b6ee6f1c244320b9d380..507f3a9cbbe4936beb247f861f3200f2fdfca13e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5057,3 +5057,5 @@ dataset/tools/repair_tools/09a6e0caaae755b19154b1ff75dde518/mesh/measuring_tape_
 dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mesh/mini_hammer_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/0a63dd06677652cabafeebc56845c816/mini_hammer_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/13f390aaddba51bc8d20499e67b7030a/13f390aaddba51bc8d20499e67b7030a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.urdf b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..783f2a2c23cb80e4cadebd0be557bb8ac4c66a88
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_030">
+   <link name="measuring_tape_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>12385209a59553169aa1fe1bb937eac9</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact tape measure</name>
+         <color>red,blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact red and blue tape measure with metal hook and side lock</description>
+         <min_height>0.0654</min_height>
+         <max_height>0.0654</max_height>
+         <real_height>0.0654</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609210123</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.066955 -0.066758 -0.032716</min>
+            <max>0.073045 0.070420 0.032688</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.usd b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b0a66fed44b62ce8e97fa4cc06c510a0b2ea779
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/measuring_tape_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68353a111aff4c2ea12c4e4d0a51f99b0770888f50522c67522b8a7a773ac64d
+size 4954526
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material.mtl b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87824813fcf0ec3ebe9a2321495be580d2163884
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material_0.png b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa90ef58801eabf6fefbddfdfa73f197f4ef5a23
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f27bd835da224ada80607a2c4da186aad7c8b8ac3a6cf0c37ddb1385e2654e7
+size 13150009
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.glb b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8cdd7e6c3cf499825657453121cd9c63abc6946d
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a31fd731a69fbb9b3044beee21dbc0ce3a9564a72ffec3098bd9755ea7a97fb4
+size 16559540
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.mtl b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ad86181b6e2a183143d5ea5510b975484fabffa
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_030_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/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5ea255fd2b27a16f6cfef48c85d9bd657d2e0b
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030.obj
@@ -0,0 +1,116704 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_030_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030_collision.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51bcdf85c50b6e2eebc4b649158836d04f0c7f01
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030_collision.obj
@@ -0,0 +1,13235 @@
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new file mode 100644
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+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mesh/measuring_tape_030_geometry_Looks_material_0.png
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/measuring_tape_030.xml b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/measuring_tape_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d737fbc797f510e97b31621e454e019132a25ac0
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/measuring_tape_030.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <worldbody>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa90ef58801eabf6fefbddfdfa73f197f4ef5a23
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f27bd835da224ada80607a2c4da186aad7c8b8ac3a6cf0c37ddb1385e2654e7
+size 13150009
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8f4b3f44ea84cc2b495c60ba87d9cbc5d25d0b
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030.obj
@@ -0,0 +1,116704 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..048e909d46d51b56bfbbd3e09a3c9af40d9a3161
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision.obj
@@ -0,0 +1,13235 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_0.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c7108662937af2c6a3dbe4eef50a4b8132e897
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_0.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_1.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab18b7dc8363cea6a312eb79d2e8dcf757952009
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_1.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_10.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969ec181824c7d7b8b96596b412bb91badba611c
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_10.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.06177142 -0.02005311 0.00003029
+v 0.06177142 -0.04092213 0.00003021
+v 0.06177142 -0.02005308 -0.00855961
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+v 0.03935479 -0.02005308 -0.00855961
+v 0.03935479 -0.04098977 0.00003021
+v 0.06118111 -0.04095899 -0.00855969
+v 0.04920801 -0.04098974 -0.00855969
+v 0.03935479 -0.04098974 -0.00855969
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+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 7
+f 5 6 11
+f 5 11 10
+f 6 9 12
+f 6 12 11
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_11.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b0bf6d8e604610dfb8c0ca04cd6f9d89c4ebf5
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.07005069 -0.04223101 0.01936263
+v 0.06996965 -0.04223101 0.02016686
+v 0.06990887 -0.04278800 0.02056076
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_12.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2bc9080223941f0084719810a0be78dbc1726c
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_12.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_13.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdba200fe96ef622653e8793ed18ed9063bb1929
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_13.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_14.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76b904173fdab5503b7f268810cde12e8cf4fba
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_14.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_15.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836bed3a2bc6f629b9f0e6373754a3356ae64db6
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_15.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_16.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a416993f456d08eba20d03eaa3f1566c13231aa2
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_16.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.06723003 -0.01552816 0.01246141
+v 0.06720561 -0.01552816 0.01472801
+v 0.06704733 -0.02005111 0.01472800
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+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_17.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d0b5bb899f5bc33a6c34fb916234a63f7debba
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_18.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edddc444daca5b6fb6a4a2ffe1dd46990122d75e
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_18.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.07004554 -0.04223087 -0.01938565
+v 0.06993296 -0.04514228 -0.01883443
+v 0.06999208 -0.04341624 -0.01947173
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_19.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9b47839d91000088e334515e72fd07a8b407e0
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_19.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_2.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f1ee3e3b868fd31c4c3f3ff49d702bdec0a931
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_2.obj
@@ -0,0 +1,1282 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_20.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e48ad5387763c694fe3acc9dd71d4c256483bcc
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_20.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_21.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d5a00772f8e88ed3ee4bc7ca83c9e42da2af9
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_21.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_22.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c97eaa0cd354e1b5b7b6275d88f03e37ed6db7
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_22.obj
@@ -0,0 +1,1300 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_23.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019b2a8166d7f8950eadfa0d614251ee3ab9e2fe
--- /dev/null
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+f 159 161 160
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_24.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8fbb036b6faec274fa7387a451fab28495fcdb
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_24.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.03935259 -0.05621605 -0.00855975
+v 0.04921783 -0.05409793 -0.00855974
+v 0.04921783 -0.05430067 -0.00341673
+v 0.04921783 -0.05437670 -0.00114879
+v 0.04921783 -0.05437223 0.00003016
+v 0.03935259 -0.05503107 0.00003016
+v 0.03935259 -0.04099123 -0.00855969
+v 0.04921783 -0.04469384 -0.00855970
+v 0.04921783 -0.04544662 0.00003019
+v 0.03935259 -0.04099126 0.00003021
+v 0.04920624 -0.04099123 -0.00855969
+v 0.04921783 -0.04472067 -0.00823511
+v 0.04921783 -0.04474899 -0.00789370
+v 0.04782630 -0.04099126 0.00003021
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 8
+f 1 8 2
+f 2 8 12
+f 2 12 13
+f 2 13 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 14
+f 5 14 10
+f 5 10 6
+f 7 10 14
+f 7 14 11
+f 8 11 12
+f 9 13 11
+f 9 11 14
+f 11 13 12
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_25.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234a08a79af333b1b5d5c4c16495047f0084a162
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05222426 -0.04324803 0.01271565
+v 0.05222426 -0.04095920 0.00855781
+v 0.05718804 -0.04095920 0.00855781
+v 0.06013490 -0.04095693 0.00855781
+v 0.06177142 -0.04095466 0.00855781
+v 0.06177142 -0.04324803 0.01449791
+v 0.05222426 -0.04324809 0.03118817
+v 0.05222426 -0.02005336 0.00855789
+v 0.06177142 -0.02005336 0.00855789
+v 0.06177142 -0.04324809 0.03108173
+v 0.05257755 -0.04324809 0.03119043
+v 0.05222426 -0.02457658 0.03169099
+v 0.05222426 -0.02005344 0.03044546
+v 0.06177142 -0.02005342 0.02373765
+v 0.06177142 -0.04095928 0.03110892
+v 0.05949375 -0.04095928 0.03120403
+v 0.05951805 -0.04324809 0.03116099
+v 0.05718804 -0.04324809 0.03120176
+v 0.05222426 -0.02286905 0.03147586
+v 0.05721234 -0.04324809 0.03120176
+v 0.05949375 -0.03864776 0.03123122
+v 0.06177142 -0.03867501 0.03112025
+v 0.06177142 -0.03864776 0.03112025
+v 0.06177142 -0.03633397 0.03111573
+v 0.06177142 -0.03402246 0.03109310
+v 0.06177142 -0.03171094 0.03093231
+v 0.05949375 -0.02940169 0.03105234
+v 0.05222426 -0.02240130 0.03134904
+v 0.05961899 -0.02696529 0.03029144
+v 0.05727215 -0.02467420 0.03029598
+v 0.05893391 -0.02537583 0.02986570
+v 0.05270746 -0.02005344 0.03018503
+v 0.05653567 -0.02005343 0.02763054
+v 0.06120972 -0.02765329 0.02985210
+v 0.06177142 -0.02898843 0.03015102
+v 0.05718804 -0.02708790 0.03114294
+v 0.05488326 -0.02477638 0.03122221
+v 0.06177142 -0.02931541 0.03027105
+v 0.05484961 -0.02005344 0.02883758
+v 0.05482905 -0.02005344 0.02885117
+v 0.05272241 -0.02005344 0.03017597
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 17
+f 1 17 20
+f 1 20 18
+f 1 18 11
+f 1 11 7
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+f 1 13 8
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+f 29 35 34
+f 29 34 31
+f 29 31 30
+f 31 33 39
+f 31 39 40
+f 31 40 41
+f 31 41 32
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_26.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b86f4c566dfcf43441a8d1292db668df5963269
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_26.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04858655 -0.04152974 -0.02253045
+v -0.04858655 -0.03335355 -0.03013048
+v -0.04477044 -0.03398692 -0.03075696
+v -0.04477044 -0.04152974 -0.02219505
+v -0.04858655 -0.04152990 0.02255737
+v -0.04858655 -0.03189923 -0.03126321
+v -0.04477044 -0.03375846 -0.03096579
+v -0.04477044 -0.04152990 0.02223464
+v -0.04477044 -0.03401500 0.03076496
+v -0.04858655 -0.03336677 0.03012582
+v -0.04858655 -0.03088323 -0.03176945
+v -0.04477044 -0.03276847 -0.03172516
+v -0.04477044 -0.03348565 0.03121426
+v -0.04858655 -0.03322004 0.03025871
+v -0.04858655 -0.03074393 -0.03182640
+v -0.04477044 -0.03165033 -0.03195930
+v -0.04858655 -0.03193660 0.03125855
+v -0.04477044 -0.03222636 0.03182808
+v -0.04522542 -0.03268327 0.03167621
+v -0.04858655 -0.02960350 -0.03193398
+v -0.04656008 -0.02940105 -0.03207320
+v -0.04477044 -0.03131972 -0.03199094
+v -0.04858655 -0.03078132 0.03180911
+v -0.04477044 -0.03171001 0.03194199
+v -0.04858655 -0.02940105 -0.03195297
+v -0.04477044 -0.02940105 -0.03214281
+v -0.04858655 -0.02736723 -0.03207319
+v -0.04858655 -0.02274422 -0.03229465
+v -0.04656008 -0.02940129 0.03206223
+v -0.04858655 -0.02940129 0.03194200
+v -0.04477044 -0.02940129 0.03212552
+v -0.04477044 -0.02888284 -0.03216179
+v -0.04858655 -0.02255477 -0.03230098
+v -0.04858655 -0.02708886 0.03206857
+v -0.04858655 -0.02255501 0.03229640
+v -0.04477044 -0.02708886 0.03220146
+v -0.04477044 -0.02657041 -0.03223139
+v -0.04477044 -0.02255477 -0.03232629
+v -0.04477044 -0.02427841 -0.03228833
+v -0.04477044 -0.02477643 0.03226476
+v -0.04477044 -0.02255501 0.03232172
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 14
+f 1 14 17
+f 1 17 23
+f 1 23 30
+f 1 30 34
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+f 1 33 28
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+f 1 20 15
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+f 3 31 24
+f 3 24 18
+f 3 18 13
+f 3 13 9
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+f 3 8 4
+f 5 8 9
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+f 6 11 12
+f 6 12 7
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 13 18 19
+f 13 19 17
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 17 19 23
+f 18 24 23
+f 18 23 19
+f 20 25 21
+f 21 26 22
+f 21 25 27
+f 21 27 28
+f 21 28 26
+f 23 24 29
+f 23 29 30
+f 24 31 29
+f 26 28 32
+f 28 33 32
+f 29 34 30
+f 29 31 35
+f 29 35 34
+f 31 36 35
+f 32 33 37
+f 33 38 39
+f 33 39 37
+f 33 35 41
+f 33 41 38
+f 35 36 40
+f 35 40 41
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_27.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439bbaa2ea3b5915ea86262cc90a7fd3dbefb499
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_27.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.04787459 -0.04104647 0.00855555
+v 0.04787459 -0.04100945 0.00338911
+v 0.06177143 -0.04094986 0.00338911
+v 0.06177143 -0.04095192 0.00562810
+v 0.06177143 -0.04095399 0.00789629
+v 0.06177143 -0.04095399 0.00855555
+v 0.04787459 -0.02005314 0.00855563
+v 0.04787459 -0.04097451 0.00003021
+v 0.06177143 -0.04092107 0.00003021
+v 0.06177143 -0.02005314 0.00855563
+v 0.04787459 -0.02005311 0.00003029
+v 0.06177143 -0.02005311 0.00003029
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 11
+f 1 11 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 12
+f 3 12 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 10 12
+f 7 12 11
+f 8 11 12
+f 8 12 9
+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_28.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b5ef37205f56cf40419347292825775b63fc3f
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_28.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_29.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b68d85d69b497b31bc576584bb3e15856543513
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_29.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_3.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f4ad6c1add83040123cdee4d439203724e3f85
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_3.obj
@@ -0,0 +1,1021 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_30.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f541dcade1fc862f59085a19611d840c096fd7
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_30.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03967919 -0.04152972 -0.02839562
+v -0.03967919 -0.03970949 -0.03073744
+v -0.03967919 -0.04152992 0.02836524
+v -0.04476995 -0.04152974 -0.02219293
+v -0.04476995 -0.03398692 -0.03076273
+v -0.04476995 -0.03375846 -0.03096527
+v -0.04476995 -0.03276847 -0.03172478
+v -0.03967919 -0.03913742 -0.03110453
+v -0.03967919 -0.03975243 0.03070706
+v -0.04476995 -0.04152990 0.02223851
+v -0.04476995 -0.03165033 -0.03195896
+v -0.03967919 -0.03798583 -0.03177543
+v -0.03967919 -0.03873830 0.03122607
+v -0.04057275 -0.03727656 0.03165646
+v -0.04476995 -0.03348565 0.03121976
+v -0.04476995 -0.03401500 0.03076406
+v -0.03967919 -0.03652036 -0.03195897
+v -0.04476995 -0.03131972 -0.03199061
+v -0.03967919 -0.03660976 0.03194129
+v -0.04119669 -0.03573679 0.03185268
+v -0.04368800 -0.03326649 0.03185269
+v -0.04476995 -0.03222636 0.03182737
+v -0.03971706 -0.03641449 -0.03196530
+v -0.03967919 -0.03644979 -0.03196530
+v -0.04476995 -0.02940105 -0.03214250
+v -0.03967919 -0.03491769 0.03206788
+v -0.04476995 -0.02940129 0.03212486
+v -0.04476995 -0.03171001 0.03194130
+v -0.03967919 -0.03402220 -0.03214251
+v -0.04476995 -0.02888284 -0.03216149
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+v -0.03967919 -0.03406144 0.03213117
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+v -0.03967919 -0.02712415 0.03230209
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+v -0.03967919 -0.02477619 -0.03226907
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+v -0.03967919 -0.02255477 -0.03216146
+v -0.03967919 -0.02255501 0.03215654
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+f 1 39 43
+f 1 43 48
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+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_31.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7072bed880bf9d8cddbe66eed159d115fe7efd8
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.06177142 -0.02005103 -0.00856045
+v 0.06177142 -0.02005097 -0.02378552
+v 0.05216178 -0.02005103 -0.00856045
+v 0.06177142 -0.04095714 -0.00856053
+v 0.06177142 -0.02796986 -0.02963210
+v 0.06119851 -0.02765815 -0.02987467
+v 0.05892663 -0.02538812 -0.02989053
+v 0.05654656 -0.02005096 -0.02766433
+v 0.05216178 -0.02005095 -0.03051393
+v 0.05216178 -0.04095952 -0.00856053
+v 0.05949390 -0.04095952 -0.00856053
+v 0.05216178 -0.04435978 -0.01200636
+v 0.05260863 -0.04435978 -0.01210611
+v 0.06177142 -0.04435977 -0.01425068
+v 0.06177142 -0.02901207 -0.03017166
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+v 0.05270741 -0.02005095 -0.03021696
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+v 0.06177142 -0.04435971 -0.03107624
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+v 0.05718815 -0.02708945 -0.03116685
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+v 0.05488334 -0.04435971 -0.03118052
+v 0.05216178 -0.02452912 -0.03171999
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+v 0.05949390 -0.04095944 -0.03121224
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+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_32.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b937714ceecc77e563aca8800aaecd69a9a9746b
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_32.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.06984529 -0.04712774 0.01194548
+v 0.06949914 -0.04690626 0.01245896
+v 0.06949914 -0.04690655 0.01246382
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+
diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_4.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91197fc23287cd47a52564cd655c341599b8d0d
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_4.obj
@@ -0,0 +1,1294 @@
+# https://github.com/mikedh/trimesh
+v -0.05117369 -0.01320887 0.03241968
+v -0.05308266 -0.01090167 0.03212139
+v -0.05308266 -0.01320887 0.03212138
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+v -0.03967919 -0.01555518 0.03234351
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+v -0.04886827 0.02608400 0.03224212
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+v -0.05410367 0.02146177 0.03145510
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+v -0.03967919 -0.01783892 0.03230542
+v -0.03967919 0.03736194 0.03196290
+v -0.04869448 0.02822697 0.03192478
+v -0.05099990 0.02586502 0.03190574
+v -0.05117369 0.02377680 0.03209614
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_5.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be92654a9490ab3c9409ff85e4892cbd663e5bf
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_5.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_6.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64be507bfecc8151c02ad35dfdeb4ad9eada066a
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_6.obj
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_7.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57ff5627b325fa876c970e11f4ae224b0436a63
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_7.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_8.obj b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc437cfd49d5cb681b314dbd1cf13303edc9fc95
--- /dev/null
+++ b/dataset/tools/repair_tools/12385209a59553169aa1fe1bb937eac9/mjcf/mesh/measuring_tape_030_collision_8.obj
@@ -0,0 +1,31 @@
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