diff --git a/.gitattributes b/.gitattributes
index 98937cf8a98278545b645a8c211447ca4c0608ee..a836ec4041099c0e782559579f642d843eb18c24 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5101,4 +5101,5 @@ dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/mesh/screwdriver_026
 dataset/tools/repair_tools/4e9b3790eb395f8abb66b0bc4089b6d9/screwdriver_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4ea4d6d652005fa7a8b646bf2489123e/mesh/wrench_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/4ea4d6d652005fa7a8b646bf2489123e/wrench_021.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/599d5d18b84d5c698dbe5f57066ae377/599d5d18b84d5c698dbe5f57066ae377.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.urdf b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..72e2c30aa73d0024248c43f06cfe1ed293b4dc24
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_001">
+   <link name="measuring_tape_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_001.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_001_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>5d4436f395c0598ba35e0374fc51b709</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>yellow tape</name>
+         <color>yellow</color>
+         <shape>cuboid</shape>
+         <material>plastic, metal</material>
+         <description>compact yellow measuring tape with extended metal blade</description>
+         <min_height>0.0778</min_height>
+         <max_height>0.0778</max_height>
+         <real_height>0.0778</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204633</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.usd b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9a4ea03ba47eba119a4d1ef6d82642900b098089
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/measuring_tape_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40a4c18dfec925531b30b274cc3ee4fa5a5134a3bf2dda20be7aedae0b965ed
+size 5139435
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material.mtl b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae5b98bfd21ce5ccb0a56343d96ff2a48f940b2e
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material_0.png b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a952a2a6abfbfa2604c64a950a64d5d93d35905
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537efd1c8aebf22762ea8d5d4959a0c70cf45e69a2c6ec64b399925cc5a184f9
+size 11312065
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.glb b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cd7fa2e7ba83e406638a42a6881309457a95ea90
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4b4dd58a972387ff153b90ae6e618f984e514758324ad464c0f153c556b194
+size 14894752
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.mtl b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f917b23b5595a4ac600611f0686f9bce6695873e
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_001_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/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33268bcaf9946a309768e2a715194a4d8cad823
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001.obj
@@ -0,0 +1,120611 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_001_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_collision.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79aa114f7f8c0996172fd21a65c2530bded0968
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_collision.obj
@@ -0,0 +1,6263 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_geometry_Looks_material_0.png b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a952a2a6abfbfa2604c64a950a64d5d93d35905
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mesh/measuring_tape_001_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:537efd1c8aebf22762ea8d5d4959a0c70cf45e69a2c6ec64b399925cc5a184f9
+size 11312065
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/measuring_tape_001.xml b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/measuring_tape_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..845983c93ef0460dd5541468eee9cae40b78d3aa
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/measuring_tape_001.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_001">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/measuring_tape_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/measuring_tape_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_001">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537efd1c8aebf22762ea8d5d4959a0c70cf45e69a2c6ec64b399925cc5a184f9
+size 11312065
diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6740e40b92d287a743aa400f824bc68319bbaec1
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001.obj
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f816f0b35a6c1d0775c443206c5bc7e587094b5
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision.obj
@@ -0,0 +1,6263 @@
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_0.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34209e1715143f50f3c7d2773eb5e1c072152cd2
--- /dev/null
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_1.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7799411121927b6c7836889699060e255dfe0fbc
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_1.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_2.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db81a4b51ac79b5f7e3f271795b74cac9666b79
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_2.obj
@@ -0,0 +1,973 @@
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_3.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c082b3c47db9176c700e6d06b2daa94130798db
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_3.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_4.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c41d87e112f0ae19eae0d961aac9904315b1b24
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_4.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_5.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4babbec17d352c3c336eef2ef597d45aa766c75
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_5.obj
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_6.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558e99b2f92cc4035cea89eea4a0cbff67b7eba5
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_6.obj
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_7.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85dc65c6554884e0b59903430f1f4061ffad79d
--- /dev/null
+++ b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_7.obj
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diff --git a/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_8.obj b/dataset/tools/repair_tools/5d4436f395c0598ba35e0374fc51b709/mjcf/mesh/measuring_tape_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66324a3ff090e737e93c5906d3cf251f3e0a5d32
--- /dev/null
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