diff --git a/.gitattributes b/.gitattributes
index 6238ca41037a2363b2aaca8e5bae390a17b5496b..6baf8c6c0af78173d4db1477fbfbebe69f5ce1ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5141,5 +5141,7 @@ dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/hex_key_021.usd filt
 dataset/tools/repair_tools/b3091147d1d059b0a307a31b6a624643/mesh/hex_key_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/mesh/screwdriver_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/tools/repair_tools/b844429383ef52519d0f81200aee97d0/screwdriver_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/ba72a38c94d152ce9234c4fa4aa2f41d/mesh/pliers_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/tools/repair_tools/ba72a38c94d152ce9234c4fa4aa2f41d/pliers_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b24b89ffa3955f108e58d570746c01be/glue_gun_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b24b89ffa3955f108e58d570746c01be/mesh/glue_gun_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.urdf b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26ed571f4b9afe9d35358a05d4b6c276f8fa84aa
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="measuring_tape_004">
+   <link name="measuring_tape_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/measuring_tape_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>b859174d980a51d39e1f89403faad104</uuid>
+         <domain>tools</domain>
+         <super_category>repair_tools</super_category>
+         <category>measuring_tape</category>
+         <name>black measuring tape</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact black measuring tape with metal clip and textured grip</description>
+         <min_height>0.0376</min_height>
+         <max_height>0.0376</max_height>
+         <real_height>0.0376</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420205400</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>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/b859174d980a51d39e1f89403faad104/measuring_tape_004.usd b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0538b84635ac372f8b9b1a9dc707d2bb87f7cc4e
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/measuring_tape_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b4531a3f3c6a9ef9a907deceed1521db67aa77150401de5ee753e7bed8cfe9
+size 4928537
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material.mtl b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e29d972d605c36e428bd0e03cd51b780ab1301b
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl measuring_tape_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material_0.png b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8221c7611fb421b7248f0337ccb43077c7ddbe69
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21154a92a7794081867f3e95b6129b58684039d88eacba579b5fd3910378261
+size 9818489
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.glb b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8796e2d35440bdccedef4ca70adc47a0e53e1fc1
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7a7ddda42e16bf0587ef15b81d03b03c6ba660da812227c8beecdf4347ec9a
+size 13183208
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.mtl b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf96884f7b71156e856f996040f3e8ecfb3ba4dd
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.mtl
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+newmtl measuring_tape_004_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/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e06183829ed3e3291966393f4cecd7af9d98215
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004.obj
@@ -0,0 +1,112990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_004_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004_collision.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..037ec947fea1702edcefc7eb7f8d4bf32678b8bf
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mesh/measuring_tape_004_collision.obj
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/measuring_tape_004.xml b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/measuring_tape_004.xml
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/material_0.png b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8221c7611fb421b7248f0337ccb43077c7ddbe69
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21154a92a7794081867f3e95b6129b58684039d88eacba579b5fd3910378261
+size 9818489
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a004e29d0a974cbaf7ccb19b6b5d32d7d046bf6
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl measuring_tape_004_geometry_Looks_material_0
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa27321aad689c4097ed3b75603620e1ea4f0269
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision.obj
@@ -0,0 +1,10098 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_0.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170c6f8ba704e191fe8755b9081c786b76bf8537
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_0.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_1.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63e4f1a9081ddedb94a51df2ec2249245307af1e
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_1.obj
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_10.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5aa242809051ad23b582aa40da2115f2c1a3ee7
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_10.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_11.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5dab3646654d319d48d4ff457197aff035b3700
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_11.obj
@@ -0,0 +1,250 @@
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_12.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e99775f8c946caf53806e65e3baf4052c0ea41
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.04624035 -0.04710356 -0.01137184
+v 0.04623992 -0.04707971 -0.01137300
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_13.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85070e35711ad99ed080c1f178f9c9d987993bdc
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_13.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_14.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..441091e953748670b9b5406a3b6b4289c6fae508
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_14.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_15.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa306a803dbaf6c2a24374906aee3405043272f3
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_15.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.04654749 -0.05449257 0.00786214
+v 0.04662550 -0.05449257 0.00786214
+v 0.04654749 -0.05449257 0.00807915
+v 0.04591138 -0.05423265 0.00728648
+v 0.04578069 -0.05396827 0.00562462
+v 0.04718964 -0.05380687 0.00728648
+v 0.04662550 -0.05449257 0.00807915
+v 0.04689973 -0.05302653 0.00292682
+v 0.04716873 -0.05328868 0.00402101
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+v 0.04578069 -0.05333101 0.01017275
+v 0.04591138 -0.05411355 0.00869935
+v 0.04468418 -0.05329204 0.00882842
+v 0.04464960 -0.05336885 0.00722595
+v 0.04467534 -0.05326865 0.00562462
+v 0.04479797 -0.05304768 0.00402102
+v 0.04491860 -0.05287848 0.00315069
+v 0.04578069 -0.05349962 0.00402101
+v 0.04813617 -0.05201415 0.00722596
+v 0.04811164 -0.05201415 0.00882843
+v 0.04717074 -0.05374955 0.00869935
+v 0.04811968 -0.05201414 0.00562463
+v 0.04704930 -0.05326144 0.01009737
+v 0.04578069 -0.05193285 0.00008510
+v 0.04661343 -0.05180317 0.00008510
+v 0.04731469 -0.05168017 0.00008510
+v 0.04795643 -0.05201413 0.00402102
+v 0.04480079 -0.05307109 0.00988608
+v 0.04578069 -0.05234198 0.01097457
+v 0.04444695 -0.05201415 0.00882843
+v 0.04441196 -0.05201415 0.00722596
+v 0.04443689 -0.05201414 0.00562463
+v 0.04455189 -0.05201413 0.00402102
+v 0.04476782 -0.05144474 0.00008510
+v 0.04824353 -0.05111916 0.00562463
+v 0.04824433 -0.05112418 0.00722596
+v 0.04824353 -0.05111695 0.00882843
+v 0.04830063 -0.04993757 0.01043090
+v 0.04825800 -0.04957580 0.01123956
+v 0.04809194 -0.05076019 0.01043089
+v 0.04831148 -0.05004553 0.00456928
+v 0.04740235 -0.05210098 0.01055082
+v 0.04694637 -0.05161119 0.01139831
+v 0.04774252 -0.05036999 0.00008510
+v 0.04495037 -0.05121046 0.01123955
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+v 0.04578069 -0.05151991 0.01136176
+v 0.04475053 -0.05037003 0.01043089
+v 0.04495037 -0.04880717 0.01116532
+v 0.04487035 -0.04880717 0.01045260
+v 0.04485869 -0.04880717 0.01033839
+v 0.04458607 -0.05037002 0.00882843
+v 0.04458406 -0.05037002 0.00722596
+v 0.04458285 -0.05037001 0.00562463
+v 0.04477867 -0.05024365 0.00008511
+v 0.04477264 -0.05082527 0.00008510
+v 0.04834204 -0.05029654 0.00562464
+v 0.04834245 -0.05030156 0.00722597
+v 0.04834124 -0.05029488 0.00882844
+v 0.04845463 -0.04880717 0.01043090
+v 0.04844578 -0.04880717 0.01050971
+v 0.04832234 -0.04880717 0.01132180
+v 0.04743049 -0.04880717 0.01174783
+v 0.04746909 -0.05022254 0.01149198
+v 0.04838507 -0.04880715 0.00435455
+v 0.04851856 -0.04880715 0.00562464
+v 0.04734605 -0.04880717 0.01175354
+v 0.04578069 -0.05037003 0.01157649
+v 0.04703202 -0.04932586 0.00008511
+v 0.04806902 -0.04880714 0.00356188
+v 0.04563956 -0.04880717 0.01159363
+v 0.04557925 -0.04880717 0.01157079
+v 0.04493509 -0.05037003 0.01125783
+v 0.04493428 -0.04921068 0.01126012
+v 0.04546947 -0.04880717 0.01151825
+v 0.04478672 -0.04880716 0.00882844
+v 0.04478390 -0.04880715 0.00562464
+v 0.04487397 -0.04971100 0.00008511
+v 0.04851937 -0.04880716 0.00722597
+v 0.04851937 -0.04880716 0.00730935
+v 0.04851776 -0.04880716 0.00882844
+v 0.04631066 -0.04933476 0.00008511
+v 0.04584744 -0.04880714 0.00251451
+v 0.04725558 -0.04880714 0.00251108
+v 0.04730826 -0.04880714 0.00257276
+v 0.04478953 -0.04880715 0.00553441
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+v 0.04566931 -0.04934366 0.00008511
+v 0.04519163 -0.04880714 0.00355617
+v 0.04486593 -0.04880715 0.00444135
+v 0.04488603 -0.04880715 0.00436940
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_16.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06dd6dbf05ded16c1fa9f52bc5502c1010dd34c6
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_16.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02270702 0.04098818 0.00251897
+v 0.02209279 0.04098818 0.00251897
+v 0.02435548 0.04095701 0.00251897
+v 0.02270702 0.04098822 -0.00719791
+v 0.02209279 0.04098823 -0.00981242
+v 0.02209279 -0.03862269 0.00251868
+v 0.02528359 0.04092582 0.00251897
+v 0.02528448 0.04092582 0.00241758
+v 0.02435548 0.04095704 -0.00559493
+v 0.02374664 0.04096485 -0.00981242
+v 0.02270702 0.04098044 -0.00981242
+v 0.02209908 0.04098823 -0.00981242
+v 0.02209279 -0.03742232 -0.00981271
+v 0.02209279 -0.03862266 -0.00559522
+v 0.02600394 -0.03775747 -0.00981271
+v 0.02464417 -0.03794459 0.00251868
+v 0.02610737 0.04084009 0.00251897
+v 0.02522783 0.04091808 -0.00981242
+v 0.02610827 0.04084009 0.00241758
+v 0.02607319 0.04084012 -0.00559493
+v 0.02605251 0.04084014 -0.00981242
+v 0.02435548 0.04094926 -0.00981242
+v 0.02209548 -0.03792115 -0.00981271
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+v 0.02209279 -0.03860707 -0.00622652
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+v 0.02472960 -0.03792120 0.00251868
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+v 0.03083061 0.03960080 0.00251897
+v 0.03083061 0.03960080 0.00241758
+v 0.03082971 0.03959305 -0.00981242
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+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_17.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369b1b7b4c174c060df451d7137b56cdf2fedbfe
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_17.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04576932 -0.03674574 -0.00559460
+v 0.04132025 -0.03451200 -0.00873237
+v 0.04576932 -0.03674161 -0.00653576
+v 0.04576932 -0.03674578 0.00562331
+v 0.04132025 -0.03451482 0.00883188
+v 0.04132025 -0.03450925 -0.00880144
+v 0.04132156 -0.03450994 -0.00881008
+v 0.04576932 -0.03669822 -0.00881008
+v 0.04576932 -0.03672025 -0.00811069
+v 0.04576932 -0.03673816 -0.00719889
+v 0.04576932 -0.03673959 0.00722587
+v 0.04576932 -0.03668864 0.00882843
+v 0.04576801 -0.03668726 0.00883188
+v 0.04132025 -0.02972166 0.00883190
+v 0.04132025 -0.02976911 -0.00881006
+v 0.04576932 -0.03029449 -0.00881006
+v 0.04576932 -0.03667762 0.00883188
+v 0.04132025 -0.02971196 -0.00881006
+v 0.04188559 -0.02977675 0.00883190
+v 0.04413212 -0.03004867 -0.00881006
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+v 0.04191433 -0.02977049 -0.00881006
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+v 0.04576932 -0.03027938 0.00401905
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+v 0.04576932 -0.03028147 0.00723625
+v 0.04413212 -0.03004047 0.00722589
+v 0.04576932 -0.03027939 0.00563369
+f 1 2 3
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+f 1 21 28
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+f 29 30 31
+f 30 32 31
+
diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_18.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23e655a2d212919d125aab9e437c14b0e561e022
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_18.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03126538 -0.03475805 0.00251941
+v 0.03243274 -0.03538442 0.00988679
+v 0.03126538 -0.03503905 0.00988679
+v 0.03126538 -0.02927317 0.00251943
+v 0.03753919 -0.03611463 0.00251941
+v 0.03424382 -0.03573564 0.00988679
+v 0.03126538 -0.02885540 0.00988681
+v 0.03126538 -0.02880491 0.00988392
+v 0.03753919 -0.02896150 0.00988681
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+v 0.03753919 -0.03627929 0.00988679
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+v 0.04131884 -0.03445366 0.00251941
+v 0.04131884 -0.03494905 0.00988679
+v 0.04131884 -0.02913491 0.00988681
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_19.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b154eb8b90114664dff79a1dce6b2055e5ea3d
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_19.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_2.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355887ac64ea40fcebc2e9ad1b9d8cff3e625204
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_2.obj
@@ -0,0 +1,1048 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_20.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a83ba3ae1ead54434e167d7457c03417869c9ac
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+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_20.obj
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_21.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1163bd58701f968f759c7d2971abc25ea1cc2c9
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_21.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_3.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fce548ea8b397fa92047b4de16d818844d74ed24
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_3.obj
@@ -0,0 +1,1948 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_4.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae80c3ffa992b240eaecbaad3be85400b2389d7e
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_4.obj
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_5.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48416546126efcced8614585f8617f03a6f9324
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_6.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f41e0364599b40b2ee34917d43430aa4df638c
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_6.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_7.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd08d98c5ecf8b13d41c347fb27cc3bf025660a
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_7.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_8.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e46a7112caae312718ce09cc75b91e31530ab62
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_8.obj
@@ -0,0 +1,1162 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_9.obj b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3da93438a4f958486afa954e65edc07be85637
--- /dev/null
+++ b/dataset/tools/repair_tools/b859174d980a51d39e1f89403faad104/mjcf/mesh/measuring_tape_004_collision_9.obj
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