diff --git a/.gitattributes b/.gitattributes
index e581dacbe0725186eb20d4c343edfc670823b66b..aff0331c2e66ac1ca950c44fd615a17759e54926 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5117,5 +5117,5 @@ dataset/tools/repair_tools/6a67ee1228d959679b96972db7ff348e/glue_gun_008.usd fil
 dataset/tools/repair_tools/6a67ee1228d959679b96972db7ff348e/mesh/glue_gun_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/mesh/wrench_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/6c836d32188b5f1ca5a8880d08950d7d/wrench_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/8b23709336c45884b4458bf58932a4de/glue_gun_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/8b23709336c45884b4458bf58932a4de/mesh/glue_gun_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.urdf b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3534e529f9bd566eb96fb864765fb51b0d16e035
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_017">
+   <link name="measuring_tape_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>8aeb83e2a5175c308eb3f05568d9ac27</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>retractable tape</name>
+         <color>purple,beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact purple retractable measuring tape with lock button and metal hook</description>
+         <min_height>0.0498</min_height>
+         <max_height>0.0498</max_height>
+         <real_height>0.0498</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609205518</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.065494 -0.055225 -0.024917</min>
+            <max>0.074506 0.061241 0.024916</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.usd b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9b3fda41547542690659b28b7f34192d896da5b4
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/measuring_tape_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a304a5b0fc3baed1b33fff749d9f1c3d8ccfef296ab657c7105f6f0832cedf72
+size 4952097
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material.mtl b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..675ada2be3edfb6017c27137c11aab741160cb28
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material_0.png b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a52b03b16345066996b263da77a0df0cf5ce2f95
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a645b75125d7c033ca6e1e895ec04ed5042bd3bf1399aab31e6878b639650e
+size 11634622
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.glb b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..90a19bc737c8b1fbe5375cd86239108023466cdb
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb18bba02d9a108b362dc81079a96e063457ec64d6a36d6bf7d759a463a6163
+size 15038540
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.mtl b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d63e6964ebabb64b145e731b56c818263ad02a1
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.mtl
@@ -0,0 +1,6 @@
+newmtl measuring_tape_017_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/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8840cb698f24f5871e3525875f1ec4ecb111b39d
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017.obj
@@ -0,0 +1,113488 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_017_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_collision.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8413c6cabed877e5327453c5de352df54505a05b
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_collision.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_geometry_Looks_material_0.png b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a52b03b16345066996b263da77a0df0cf5ce2f95
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mesh/measuring_tape_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a645b75125d7c033ca6e1e895ec04ed5042bd3bf1399aab31e6878b639650e
+size 11634622
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/measuring_tape_017.xml b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/measuring_tape_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cdb8315e8e2ccd4c7dcbafe87333603b9d6647df
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/measuring_tape_017.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="measuring_tape_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/measuring_tape_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/measuring_tape_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/measuring_tape_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/measuring_tape_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/measuring_tape_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/measuring_tape_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/measuring_tape_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/measuring_tape_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="measuring_tape_017">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a52b03b16345066996b263da77a0df0cf5ce2f95
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a645b75125d7c033ca6e1e895ec04ed5042bd3bf1399aab31e6878b639650e
+size 11634622
diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4255f39a0b988da04bcde235ccf5b8da10589e87
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017.obj
@@ -0,0 +1,113488 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_017_geometry_Looks_material_0
+v 0.068158 -0.038389 0.003026
+v 0.068158 -0.038389 0.003026
+v 0.067853 -0.038302 0.002754
+v 0.067853 -0.038302 0.002754
+v 0.067290 -0.038070 0.003813
+v 0.067290 -0.038070 0.003813
+v 0.065573 -0.035434 -0.001243
+v 0.065190 -0.035495 -0.001697
+v 0.065171 -0.035263 -0.000833
+v 0.065708 -0.035349 -0.000584
+v 0.065367 -0.035217 0.000050
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+v 0.064180 -0.035546 -0.001752
+v 0.063946 -0.035294 -0.000262
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b031245d116e283bfb6a31801cc52be6d5b49c4
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_0.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5b81f880854efb012a0fc6da35c6f00a28002a
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_0.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_1.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6733640b72aa9d6befb6158bbd08d0f5e6b2baf
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_1.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_2.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4691ee0b8c57a0d30142105bb1584fffaa085
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_2.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_3.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217e819dcd4306b1e165299b0c6d9246155a64c2
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_3.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_4.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d7944d7504fdb1707e743c282843a72b31201a
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_4.obj
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_5.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd93cc88c19f8077bd9df8e703a6e5bc5f4a6bd
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_5.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_6.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddddb64a2aeba45b4be3e2d895e4d86a405e5351
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_6.obj
@@ -0,0 +1,3190 @@
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diff --git a/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_7.obj b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa04f1aed9f5011e0c1c60b1fd0131eea4dccd6
--- /dev/null
+++ b/dataset/tools/repair_tools/8aeb83e2a5175c308eb3f05568d9ac27/mjcf/mesh/measuring_tape_017_collision_7.obj
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