diff --git a/.gitattributes b/.gitattributes
index 21051c2700ff1710ec96571f31cd4b09564b57c3..6a4fb4ed19b570a0f8dd8cd0629ccf0f58f47141 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5519,7 +5519,5 @@ dataset/tools/repair_tools/69e3bc4afa345ce19258298ea3532e75/mesh/mini_hammer_026
 dataset/tools/repair_tools/69e3bc4afa345ce19258298ea3532e75/mini_hammer_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/6d5c65ba9281549ca5115b60611b2e35/mesh/pliers_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/6d5c65ba9281549ca5115b60611b2e35/pliers_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/6f34cc37b06b5e43bd528be175c09064/measuring_tape_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/6f34cc37b06b5e43bd528be175c09064/mesh/measuring_tape_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/7004b7870031534dae9fce44cf822365/mesh/screwdriver_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/7004b7870031534dae9fce44cf822365/screwdriver_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.urdf b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1aa5e0a650c4b6cbb5cb417accb43de1b2d8c2c
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_005">
+   <link name="measuring_tape_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>6eb3334b45ee546581d81f937e2edafe</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>compact measuring tape</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact green and black measuring tape with metal hook</description>
+         <min_height>0.0409</min_height>
+         <max_height>0.0409</max_height>
+         <real_height>0.0409</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420205441</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.usd b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..64cc042a1a24326d08abf85538805a4d617f25e8
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/measuring_tape_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e673bcfa84f721710fe786dd9301de63a84cf02a06b5b6b24ec4dae13eac29
+size 5015075
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material.mtl b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c6606493cf2b83f3df7fd8ce484ecb486857f18
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material_0.png b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3510fd036cbe2e4230b73f50369c655403d6505d
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a703bfc28a1181ba63140e5c70993e2e7295c24bb514c3f4c29fcace1529edfd
+size 11254786
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.glb b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f1594e93787b82f56a8070cfa26e6706dccbdc50
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f4053dd5d13e39c6e658791711a78153da33930b8e2ab77504378d942d09f3
+size 14762724
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.mtl b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fffa59ff1e12a5aac411e4620525c66cf2c0faf2
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_005_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/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583cb5b49218cbe00916c9dd31afcedc42d004f6
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005.obj
@@ -0,0 +1,117808 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_005_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005_collision.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe57ff4df7f6191fca6f9495e7207b7c020bccf1
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mesh/measuring_tape_005_collision.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/measuring_tape_005.xml b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/measuring_tape_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..df1ce20ed51b4eedc55a3a0b17ec4a39b027db01
--- /dev/null
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+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3510fd036cbe2e4230b73f50369c655403d6505d
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a703bfc28a1181ba63140e5c70993e2e7295c24bb514c3f4c29fcace1529edfd
+size 11254786
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5222140f5ff95082aee46c58c71c349e87a958bb
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005.obj
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+mtllib material.mtl
+usemtl measuring_tape_005_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e631ee1954277fd3d09ec14c5856065a21db578
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision.obj
@@ -0,0 +1,15611 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_0.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205f317d73cbed4135d2ec1e4b48434f3f0b27c7
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_0.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_1.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92afe46fdd040879300820401ae300a22257a6d7
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_1.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_10.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50300aa8aa0c50cf10ebb3c2389d46221f2cd01
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_10.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_11.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdee9bef09e8bc073a827b2cc0cbfe20979b2b28
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_11.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_12.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54dcaf4da32c2164e5154cee6d32ff75464ef90
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_12.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_13.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fe63b9bcb07b1df61c91b1bb16a25af567f2e1
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_14.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5769feee61aa481bf8d58ccf4bc443e0236cd161
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_14.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_15.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d226573c739cc2be5a7828b55e569583b0cc4d7
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_15.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_16.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11bb0a2df69ce83eaa08a2d5261bdeb861248a33
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_16.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_17.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f412d719eee46efcd9ac63252480cf3cf20e4db7
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_18.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6309d65cf6aa7be7f55c8b99a878f65f0a89a3f
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_19.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28efd2bc55295e2d02a47d10468038c0f2764f3a
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_19.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_2.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f862741d41f8a8e9910e9b42b033ee849e30cff
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_2.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_20.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51bbbc1f95e4bb4c9f1837459dd82e7ac242bc1f
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_20.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_21.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490dce47559a66b1af3f4bb833a1db3a8c993a71
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_21.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03284554 -0.03001567 0.00082576
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_22.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82efcb1439dfc16dbadb8b4cd5980bdc32846c99
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_22.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_23.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2efa8254b01fa2099a3e78413aac2e665c9cd6d
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_23.obj
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+f 173 175 177
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+f 183 203 194
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+f 221 224 222
+
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_24.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66f2e0c668b143260ae683c60a43ae172931261
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04027101 0.01116347 0.00001025
+v 0.04051124 0.01116350 -0.00799231
+v 0.03920107 0.01116347 0.00001025
+v 0.04010010 0.00088371 0.00001021
+v 0.04202158 0.00088374 -0.00799235
+v 0.03920107 0.01116350 -0.00799231
+v 0.03920107 0.00088371 0.00001021
+v 0.03920107 0.00088374 -0.00799235
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 5
+
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_25.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f4bac3ade9176b3f87017160f67db016954486
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_25.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03967297 -0.03102966 0.02051190
+v 0.03933686 -0.03102966 0.02050989
+v 0.04098847 -0.03102966 0.02050186
+v 0.03967297 -0.02242329 0.02044168
+v 0.03920080 -0.03102966 0.02049584
+v 0.03920080 -0.02242329 0.02042563
+v 0.04132436 -0.03102966 0.02049584
+v 0.04132436 -0.03069168 0.02049584
+v 0.04132436 -0.02242328 0.02031725
+v 0.03967297 -0.01084851 0.01992391
+v 0.03920080 -0.01084851 0.01995401
+v 0.03920080 -0.02076764 0.02037144
+v 0.04143916 -0.03069168 0.02049183
+v 0.04143916 -0.03057657 0.02048982
+v 0.04143916 -0.02903849 0.02045972
+v 0.04132436 -0.02407647 0.02036942
+v 0.04143916 -0.02407647 0.02036139
+v 0.03920080 -0.03102958 0.00000812
+v 0.04143916 -0.03102966 0.02049183
+v 0.04143916 -0.02242328 0.02030721
+v 0.04132436 -0.01084851 0.01977338
+v 0.03920080 -0.00919288 0.01986973
+v 0.03968195 -0.03102958 0.00000812
+v 0.03920080 -0.00600889 0.00000821
+v 0.04143916 -0.03102962 0.01018374
+v 0.04143916 -0.01250170 0.01983358
+v 0.04143916 -0.01085096 0.01975331
+v 0.03967297 -0.00919288 0.01981353
+v 0.03920080 -0.00776991 0.01957269
+v 0.04143916 -0.02853633 0.00000813
+v 0.03920080 -0.00600896 0.01878595
+v 0.04143916 -0.00600889 0.00000821
+v 0.04143916 -0.00932268 0.01949843
+v 0.04125293 -0.00923206 0.01951649
+v 0.03967297 -0.00792911 0.01951449
+v 0.03920080 -0.00635674 0.01894450
+v 0.03954808 -0.00600896 0.01867355
+v 0.04065477 -0.00826709 0.01937600
+v 0.04143916 -0.00600896 0.01796106
+v 0.04109714 -0.00600896 0.01809954
+f 1 2 5
+f 1 5 18
+f 1 18 23
+f 1 23 25
+f 1 25 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 4 8 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 9
+f 5 6 12
+f 5 12 11
+f 5 11 22
+f 5 22 29
+f 5 29 36
+f 5 36 31
+f 5 31 24
+f 5 24 18
+f 7 19 13
+f 7 13 8
+f 9 20 10
+f 9 17 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 13 19 25
+f 13 25 30
+f 13 30 32
+f 13 32 39
+f 13 39 33
+f 13 33 27
+f 13 27 26
+f 13 26 20
+f 13 20 17
+f 13 17 15
+f 13 15 14
+f 15 17 16
+f 18 24 32
+f 18 32 30
+f 18 30 23
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 23 30 25
+f 24 31 37
+f 24 37 40
+f 24 40 39
+f 24 39 32
+f 27 33 28
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 31 36 38
+f 31 38 37
+f 33 39 38
+f 33 38 35
+f 33 35 34
+f 35 38 36
+f 37 38 40
+f 38 39 40
+
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_26.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50dbce156041b82b9d146edc11ed76c7ed4a5683
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_26.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.04143916 -0.03102966 0.02049343
+v 0.04143916 -0.03102962 0.01018460
+v 0.04297659 -0.03102966 0.02043728
+v 0.04297659 -0.03069168 0.02043728
+v 0.04143916 -0.03069168 0.02049142
+v 0.04585433 -0.02890860 0.00000812
+v 0.04297659 -0.03102962 0.01020064
+v 0.04143916 -0.02853633 0.00000813
+v 0.04462768 -0.03102965 0.02023476
+v 0.04462768 -0.02903848 0.02020668
+v 0.04297659 -0.02903848 0.02040721
+v 0.04143916 -0.03057657 0.02048942
+v 0.04462768 -0.03069167 0.02023275
+v 0.04585433 -0.00858052 0.00000820
+v 0.04585433 -0.03102962 0.01040718
+v 0.04463978 -0.03102962 0.01023874
+v 0.04143916 -0.00600889 0.00000821
+v 0.04585433 -0.03102965 0.01984775
+v 0.04585433 -0.03069167 0.01984574
+v 0.04585433 -0.02776491 0.01978159
+v 0.04585433 -0.02738529 0.01977156
+v 0.04462768 -0.02738529 0.02016258
+v 0.04143916 -0.02903849 0.02045934
+v 0.04297659 -0.02407647 0.02024480
+v 0.04143916 -0.02407647 0.02036111
+v 0.04560710 -0.00600889 0.00000821
+v 0.04585433 -0.00858786 0.00080628
+v 0.04143916 -0.00600896 0.01796093
+v 0.04585433 -0.02605294 0.01972945
+v 0.04462768 -0.02572965 0.02010444
+v 0.04297659 -0.02242328 0.02018265
+v 0.04143916 -0.02242328 0.02030697
+v 0.04560580 -0.00600889 0.00080629
+v 0.04585433 -0.00861481 0.00185300
+v 0.04203131 -0.00600896 0.01773434
+v 0.04143916 -0.00932268 0.01949892
+v 0.04241729 -0.00980762 0.01940667
+v 0.04585433 -0.02572965 0.01971743
+v 0.04585433 -0.02430669 0.01965727
+v 0.04585433 -0.02407647 0.01964725
+v 0.04462768 -0.02407647 0.02002824
+v 0.04297659 -0.01581053 0.01984379
+v 0.04143916 -0.01085096 0.01975157
+v 0.04143916 -0.01250170 0.01983377
+v 0.04559370 -0.00600890 0.00241648
+v 0.04585433 -0.00884749 0.00564888
+v 0.04585433 -0.00870054 0.00354540
+v 0.04585433 -0.00863686 0.00241647
+v 0.04297442 -0.00600895 0.01715082
+v 0.04351816 -0.01040277 0.01913797
+v 0.04143916 -0.01073830 0.01973352
+v 0.04297140 -0.01091219 0.01948488
+v 0.04390889 -0.01150734 0.01935454
+v 0.04585433 -0.02253104 0.01956905
+v 0.04582580 -0.02076764 0.01948484
+v 0.04462768 -0.02242328 0.01993801
+v 0.04297659 -0.01415489 0.01975557
+v 0.04297659 -0.01250170 0.01965330
+v 0.04559154 -0.00600890 0.00253679
+v 0.04585433 -0.00930061 0.01066593
+v 0.04395341 -0.00600895 0.01643696
+v 0.04571299 -0.01131386 0.01797495
+v 0.04409821 -0.01250170 0.01941468
+v 0.04518741 -0.01415489 0.01920814
+v 0.04492375 -0.01250170 0.01903570
+v 0.04585433 -0.02118155 0.01949687
+v 0.04585433 -0.02076764 0.01946879
+v 0.04570694 -0.01911445 0.01942870
+v 0.04558246 -0.01746372 0.01937256
+v 0.04462768 -0.02076764 0.01984176
+v 0.04462768 -0.01911445 0.01974352
+v 0.04462768 -0.01746372 0.01964126
+v 0.04436186 -0.01415489 0.01948085
+v 0.04556474 -0.00600890 0.00402466
+v 0.04585433 -0.00957493 0.01231622
+v 0.04404374 -0.00600895 0.01636478
+v 0.04585433 -0.01250170 0.01834390
+v 0.04585433 -0.01188941 0.01809927
+v 0.04585433 -0.01096362 0.01716283
+v 0.04459829 -0.00600895 0.01528597
+v 0.04536160 -0.01529130 0.01927832
+v 0.04585433 -0.01415489 0.01871486
+v 0.04585433 -0.01563174 0.01898355
+v 0.04585433 -0.01911445 0.01934448
+v 0.04585433 -0.01746372 0.01920011
+v 0.04549732 -0.01639343 0.01933045
+v 0.04473746 -0.01583012 0.01950090
+v 0.04550942 -0.00600891 0.00570303
+v 0.04585433 -0.00995210 0.01408282
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+v 0.04501322 -0.00600894 0.01367778
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+v 0.04538883 -0.00600892 0.00894747
+v 0.04585433 -0.01024356 0.01529397
+v 0.04585433 -0.01067461 0.01667957
+v 0.04516580 -0.00600893 0.01218991
+v 0.04529028 -0.00600893 0.01045540
+v 0.04517747 -0.00600893 0.01206759
+f 1 2 7
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+f 1 9 3
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+f 1 12 23
+f 1 23 25
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+f 40 54 41
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+f 45 60 46
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+f 89 93 94
+f 90 95 96
+f 90 96 91
+f 93 97 95
+f 93 95 94
+f 95 97 98
+f 95 98 96
+
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_27.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1d07466d67a5e448b1c86614220884e806de33
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_27.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04560726 -0.00600889 0.00000821
+v 0.04560856 -0.00600889 -0.00068300
+v 0.03920080 -0.00600889 0.00000821
+v 0.04585411 -0.00858168 0.00000820
+v 0.04560856 -0.00600889 -0.00080336
+v 0.04585411 -0.00857678 -0.00080337
+v 0.03920080 -0.00600886 -0.00877457
+v 0.03920080 -0.03104096 0.00000812
+v 0.04585411 -0.02890676 0.00000812
+v 0.04559553 -0.00600888 -0.00241273
+v 0.04585411 -0.00863313 -0.00241274
+v 0.04585411 -0.00876055 -0.00402211
+v 0.04585411 -0.00888795 -0.00562891
+v 0.04538646 -0.00600886 -0.00877457
+v 0.03920080 -0.03104093 -0.00877466
+v 0.03968604 -0.03104096 0.00000812
+v 0.04585411 -0.02904152 -0.00240766
+v 0.04555906 -0.00600888 -0.00402210
+v 0.04585411 -0.00922363 -0.00877458
+v 0.04538841 -0.00600886 -0.00874620
+v 0.03981891 -0.03104093 -0.00877466
+v 0.04585411 -0.02912971 -0.00877466
+v 0.04550500 -0.00600887 -0.00557474
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 23
+f 1 23 20
+f 1 20 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 15
+f 3 15 8
+f 4 9 17
+f 4 17 22
+f 4 22 19
+f 4 19 13
+f 4 13 12
+f 4 12 11
+f 4 11 6
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 7 14 19
+f 7 19 22
+f 7 22 21
+f 7 21 15
+f 8 15 21
+f 8 21 16
+f 9 16 17
+f 10 13 19
+f 10 19 18
+f 14 20 19
+f 16 21 22
+f 16 22 17
+f 18 19 23
+f 19 20 23
+
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_28.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc67488bdc021484e9d8a4dbcd4f55c29c16d5af
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_28.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.03920080 0.00088378 -0.01869323
+v 0.03920080 0.00120377 -0.01869848
+v 0.03952048 0.00088378 -0.01863560
+v 0.03920080 0.00088374 -0.00799340
+v 0.03920080 0.00285803 -0.01867122
+v 0.03967290 0.00088378 -0.01860311
+v 0.04202201 0.00088374 -0.00799340
+v 0.03920080 0.01116350 -0.00799336
+v 0.03920080 0.00451229 -0.01860099
+v 0.03967290 0.00238510 -0.01857271
+v 0.04118741 0.00088378 -0.01806759
+v 0.04461145 0.00088375 -0.01040060
+v 0.04051150 0.01116350 -0.00799336
+v 0.03920080 0.01116354 -0.01788206
+v 0.03920080 0.00616454 -0.01849200
+v 0.03967290 0.00403936 -0.01849306
+v 0.04116400 0.00238510 -0.01801204
+v 0.04141176 0.00088378 -0.01798271
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_29.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1fd7bca076057dc7966420a4372e852335ddc5
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_29.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_3.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0009664ba1e7db2de88383671b7b6582d330bd4
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_3.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_4.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4f25407fa0b37bae8646a290de5d6ef1d4c742
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_4.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_5.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4967e83d7751e2a2bc24cd2b090309d37f8d072
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_5.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_6.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6915c7fcd08beff2caf7d3e7f2a475c15e46e05e
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_6.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_7.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..646c7b6b5ddc1f54914bba08d261fc1625a7a77b
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_7.obj
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_8.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843287931ab201fc92eac2bf96e24f19b1461ccb
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_8.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_9.obj b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44fadc0b216f25dd91bba0c85ad0188209fdbd01
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/mjcf/mesh/measuring_tape_005_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04522765 0.01979738 -0.00723771
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diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/textures/material_0.png b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3510fd036cbe2e4230b73f50369c655403d6505d
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a703bfc28a1181ba63140e5c70993e2e7295c24bb514c3f4c29fcace1529edfd
+size 11254786
diff --git a/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/video.mp4 b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7349b0d3e0a2f9b84f769a65f98f7bdd75804d52
--- /dev/null
+++ b/dataset/tools/repair_tools/6eb3334b45ee546581d81f937e2edafe/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 335602