diff --git a/.gitattributes b/.gitattributes
index a9b712f13ea3985185c7f03c99fbda3ee2171455..845e392a49464bcf0543a2b669022c6e3cf910ae 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3846,4 +3846,4 @@ dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2
 dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/1f2b54d0fe835885919dc44870598ba2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/265cbab0a6145493bf7df5a6061df422.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/8b0d79295481587a9390c78f9c76eed9/8b0d79295481587a9390c78f9c76eed9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/87c7d44551005c6ca09acc1f8febd205/87c7d44551005c6ca09acc1f8febd205.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.urdf b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f0efc11c8e973f6601e0d8d407f0df0298131bc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="air_conditioner_3">
+   <link name="air_conditioner_3">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/air_conditioner_3.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/air_conditioner_3_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000" />
+         <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>0.710494</scale>
+         <version>v0.1.5</version>
+         <category>air conditioner</category>
+         <description>rectangular wall-mounted air conditioner with vented grille and curved edges</description>
+         <min_height>0.4</min_height>
+         <max_height>0.5</max_height>
+         <real_height>0.45</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251024112440</generate_time>
+         <gs_model>mesh/air_conditioner_3_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: visible extra geometry at the base resembling a platform or ground plane.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.729792475700378</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.usd b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6850ab748248e6057618ea624a21a171339a51e1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/78b86295399659f9aded5ff7945acd0e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4002c33914e269ef145a03db0f816038e039ee6a7f93f05ba6009acb29fb261e
+size 381769
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.glb b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2c2397da393ca29f5bd405a780d01122684691d8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f32304d29c989e934832c9ecd0277a5140f87b06512f12ff2454102eed05ee
+size 1450248
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c853ca2ddce532e7d13f44402db877a0fd459a1f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_collision.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11dafea70b217efa4bf59d284b4b9d2a7c55a2b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_collision.obj
@@ -0,0 +1,9018 @@
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_gs.ply b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..94fbceab9df15e243ec1c2ad7021c3e6629074fc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/air_conditioner_3_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 32808298
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material_0.png
new file mode 100644
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+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2edca6b9d617e199cf05732b79d61d509f70609ee4902c65a7974de3233a426a
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/78b86295399659f9aded5ff7945acd0e.xml b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/78b86295399659f9aded5ff7945acd0e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..22bc0eace2b08727ed5bb91187dbf040305fe24d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/78b86295399659f9aded5ff7945acd0e.xml
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9cc54d77cb593678cac77cddf58fc818e3c28c3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3.obj
@@ -0,0 +1,26398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f2d3d4e45f679d47bc6387b1a0cb67874d2f4f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision.obj
@@ -0,0 +1,9018 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_0.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba227e8c1b98d39bda377caef293cb2215483921
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_0.obj
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_1.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7092e9163f6d01c601f46a365f849e6e892ea28f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_1.obj
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_10.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6301dc59409618dc98e365286ec096a1b9fc2fad
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_10.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.07568781 -0.25181303 -0.18908654
+v 0.00102075 -0.25181303 -0.18908654
+v 0.06644944 -0.25181302 -0.19171043
+v 0.07568781 -0.25180406 -0.19177113
+v 0.07568781 -0.16038412 -0.18908621
+v 0.00102075 -0.25181302 -0.19153750
+v 0.00102075 -0.18411177 -0.18908630
+v 0.04084659 -0.25181302 -0.19165339
+v 0.07568781 -0.18140874 -0.18976696
+v 0.07568781 -0.16967468 -0.18941396
+f 1 2 6
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+f 1 5 7
+f 1 7 2
+f 2 7 6
+f 3 8 4
+f 4 8 6
+f 4 6 9
+f 5 10 6
+f 5 6 7
+f 6 10 9
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_11.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3edd385ae3777d67fc86a180d2b282be44591c0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.07809616 -0.22949848 -0.19120747
+v -0.07809616 -0.22949848 -0.19020747
+v -0.07809616 -0.16969224 -0.19120747
+v -0.07809616 -0.16969224 -0.19020747
+v -0.05893224 -0.22949848 -0.19120747
+v -0.05893224 -0.22949848 -0.19020747
+v -0.05893224 -0.16969224 -0.19120747
+v -0.05893224 -0.16969224 -0.19020747
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_12.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9e851d419a2ee60ec811509da868ff43455416
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_12.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.09741564 0.21693512 -0.18641551
+v -0.09921170 0.10010400 -0.18262741
+v -0.09943925 0.10010403 -0.19122821
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_13.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29d17255fe0b392f76256e60386657338545d2ee
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_14.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f030bcd92072ccdc053ddb0f2d6ca9384c3542
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_14.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_15.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a64fbc1517b27494f40fbb6b4fa8d379b0a928b2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_16.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8c4b3f271c0721d5d04948d6d46338202cdaca
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_16.obj
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_17.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332969d13a58a37eb49c65328934bdc09a30af2c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_17.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.10838436 0.25575401 -0.15683715
+v 0.10988319 0.25575400 -0.15427956
+v 0.15551076 0.25575401 -0.15683715
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_18.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94f67ad010d27254cc19330334d7a0d1a999d97c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_18.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_19.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..823235fa6df8e8194cb6bf25308e71e232086409
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_19.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_2.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63be973971fa3e1ebdd55b5717a15c728b22fc9c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_2.obj
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+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_20.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d86f82b90a57fa4ab2d80e786b699e861b3dbd8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_20.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.09461101 -0.25181303 -0.18908654
+v 0.07568781 -0.25181303 -0.18908654
+v 0.09461101 -0.25181298 -0.20278052
+v 0.09461101 -0.12427886 -0.18908608
+v 0.07568781 -0.25180052 -0.19177151
+v 0.07569522 -0.25181302 -0.19177285
+v 0.07568781 -0.16038545 -0.18908621
+v 0.09460730 -0.25181297 -0.20290361
+v 0.09461101 -0.25177551 -0.20290496
+v 0.09461101 -0.14715133 -0.19701389
+v 0.09106198 -0.12647622 -0.18908608
+v 0.07568781 -0.18141016 -0.18976802
+v 0.09461101 -0.18117292 -0.20190377
+v 0.07606568 -0.15848774 -0.18908620
+v 0.09461101 -0.16952441 -0.20153715
+v 0.07568781 -0.16967427 -0.18941492
+v 0.09461101 -0.15787593 -0.19996536
+v 0.08115954 -0.14000994 -0.18908613
+v 0.07799764 -0.14899915 -0.18908617
+f 1 2 6
+f 1 6 8
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+f 1 3 9
+f 1 9 13
+f 1 13 15
+f 1 15 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
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+f 8 13 9
+f 10 17 18
+f 10 18 11
+f 12 16 13
+f 13 16 15
+f 14 19 15
+f 15 19 17
+f 17 19 18
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_21.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c03d1a7e161bab855d6e344b17e818386517232
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_21.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.09741563 0.27603297 -0.18951918
+v -0.08729844 0.27603297 -0.18938166
+v -0.09741563 0.26430567 -0.18943763
+v -0.09741563 0.29947329 -0.18944684
+v -0.08729844 0.31120059 -0.18931859
+v -0.08729844 0.26430566 -0.18891087
+v -0.09741563 0.21725358 -0.18652431
+v -0.09741563 0.31120059 -0.18940949
+v -0.08729844 0.32294216 -0.18920434
+v -0.08729844 0.25440671 -0.18541005
+v -0.09741563 0.21693933 -0.18641476
+v -0.09741563 0.32294217 -0.18924862
+v -0.08729844 0.33466946 -0.18897355
+v -0.08729844 0.25274974 -0.18482036
+v -0.09719380 0.20932579 -0.16571022
+v -0.09741563 0.20932579 -0.16573819
+v -0.09741563 0.33466946 -0.18898753
+v -0.08729844 0.33509799 -0.18893624
+v -0.08729844 0.25274970 -0.17509156
+v -0.09741563 0.20941149 -0.16571022
+v -0.08729844 0.25280683 -0.17506126
+v -0.08729844 0.26364850 -0.16966073
+v -0.08729844 0.26430559 -0.16958383
+v -0.08729844 0.27526153 -0.16924814
+v -0.08729844 0.27603289 -0.16924349
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+v -0.09741563 0.34639676 -0.18796194
+v -0.08729844 0.34639676 -0.18794794
+v -0.09741563 0.28533186 -0.16579152
+v -0.08729844 0.29947321 -0.16934596
+v -0.09741563 0.35525295 -0.18383871
+v -0.08729844 0.34672531 -0.18779644
+v -0.09741563 0.28774590 -0.16580316
+v -0.08729844 0.33466939 -0.16958589
+v -0.09741563 0.35525292 -0.17665516
+v -0.08729844 0.35523868 -0.18383172
+v -0.09741563 0.29947320 -0.16591966
+v -0.08729844 0.34583963 -0.17109621
+v -0.09741563 0.33466939 -0.16872583
+v -0.09741563 0.32294208 -0.16714092
+v -0.09741563 0.31120050 -0.16636248
+v -0.08729844 0.34635385 -0.17116847
+v -0.08729844 0.35492439 -0.17650133
+v -0.08729844 0.35523865 -0.17669712
+v -0.09741563 0.34548252 -0.17066734
+f 1 2 3
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+f 35 45 42
+f 38 42 39
+f 39 42 45
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_22.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f036ecb19d421f008becd8075ff9bbd048891d25
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_22.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.07809616 -0.25114456 -0.19053538
+v -0.08862573 -0.25114456 -0.19053538
+v -0.07809616 -0.25114456 -0.19185212
+v -0.07809616 -0.16969959 -0.19053508
+v -0.08862573 -0.25114453 -0.19875194
+v -0.08862573 -0.11810301 -0.19053489
+v -0.08862573 -0.14623236 -0.19757315
+v -0.08862573 -0.14512542 -0.19754500
+v -0.07829509 -0.16460765 -0.19053506
+v -0.08651797 -0.12013458 -0.19053490
+v -0.08862573 -0.12413259 -0.19344994
+v -0.07956696 -0.13934330 -0.19053497
+v -0.07919076 -0.14623239 -0.19053500
+v -0.07888671 -0.15193640 -0.19053502
+v -0.08862573 -0.13449877 -0.19704061
+v -0.08449162 -0.12216614 -0.19053491
+v -0.08862573 -0.13393878 -0.19685723
+v -0.07989782 -0.13449879 -0.19053495
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 12
+f 1 12 18
+f 1 18 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
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+f 2 11 17
+f 2 17 15
+f 2 15 8
+f 2 8 7
+f 2 7 5
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+f 8 13 14
+f 8 14 9
+f 8 15 12
+f 10 16 11
+f 11 16 17
+f 12 15 18
+f 15 17 16
+f 15 16 18
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_23.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d230072dab4f040afd35da197e80e316084303b6
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00102074 0.25616036 -0.17547749
+v -0.08729844 0.25279936 -0.17506150
+v -0.08729844 0.25275924 -0.17509108
+v 0.00102074 0.25616040 -0.18382893
+v 0.00102074 0.26429692 -0.16986449
+v -0.08729844 0.26364478 -0.16966143
+v -0.08729844 0.25275928 -0.18482260
+v 0.00102074 0.25965179 -0.18558754
+v 0.00102074 0.27603528 -0.16951551
+v -0.08729844 0.27526275 -0.16924737
+v -0.08729844 0.26429692 -0.16958455
+v -0.08729844 0.25440465 -0.18541208
+v 0.00102074 0.26429699 -0.18792180
+v -0.08729844 0.29949193 -0.16934585
+v -0.08729844 0.27603528 -0.16924146
+v 0.00102074 0.31121022 -0.16986829
+v -0.08729844 0.33466687 -0.16958626
+v -0.08729844 0.33394451 -0.16958035
+v -0.08729844 0.26429699 -0.18891151
+v 0.00102074 0.26933344 -0.18831019
+v 0.00102074 0.32293855 -0.16999442
+v 0.00102074 0.33466688 -0.17015604
+v -0.08729844 0.34584341 -0.17109642
+v 0.00102074 0.27603535 -0.18881684
+v -0.08729844 0.27603536 -0.18938268
+v 0.00102074 0.34639519 -0.17177265
+v -0.08729844 0.34636510 -0.17116739
+v 0.00102074 0.31121029 -0.18893895
+v -0.08729844 0.31121030 -0.18931749
+v 0.00102074 0.35126111 -0.17473190
+v -0.08690076 0.34639519 -0.17118711
+v -0.08729844 0.35524415 -0.17669554
+v 0.00102074 0.32293862 -0.18890341
+v -0.08729844 0.32293862 -0.18920505
+v 0.00102074 0.35492309 -0.17696171
+v -0.06367980 0.35521403 -0.17678426
+v -0.08729844 0.35524418 -0.18383251
+v 0.00102074 0.32797506 -0.18884425
+v -0.01722923 0.33466694 -0.18881662
+v -0.00561011 0.33466694 -0.18877916
+v -0.08729844 0.33466694 -0.18897237
+v -0.08690076 0.33466694 -0.18897237
+v -0.07529028 0.33466694 -0.18894674
+v 0.00102074 0.35492311 -0.18346185
+v -0.06367980 0.35521406 -0.18381279
+v -0.07529028 0.34639525 -0.18793334
+v -0.08690076 0.34639525 -0.18794910
+v -0.08729844 0.34672634 -0.18779534
+v 0.00102074 0.33466694 -0.18875353
+v -0.06367980 0.34639525 -0.18790771
+v -0.08729844 0.33505822 -0.18893886
+v 0.00102074 0.34639525 -0.18748383
+v -0.08729844 0.34639525 -0.18794910
+v 0.00102074 0.33970339 -0.18820936
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 20
+f 1 20 24
+f 1 24 28
+f 1 28 33
+f 1 33 38
+f 1 38 49
+f 1 49 54
+f 1 54 52
+f 1 52 44
+f 1 44 35
+f 1 35 30
+f 1 30 26
+f 1 26 22
+f 1 22 21
+f 1 21 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
+f 2 11 10
+f 2 10 15
+f 2 15 14
+f 2 14 18
+f 2 18 17
+f 2 17 23
+f 2 23 27
+f 2 27 32
+f 2 32 37
+f 2 37 48
+f 2 48 53
+f 2 53 51
+f 2 51 41
+f 2 41 34
+f 2 34 29
+f 2 29 25
+f 2 25 19
+f 2 19 12
+f 2 12 7
+f 2 7 3
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 9 16 17
+f 9 17 18
+f 9 18 14
+f 12 19 13
+f 13 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 19 24 20
+f 19 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 28
+f 25 29 28
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 28 29 33
+f 29 34 33
+f 30 35 31
+f 31 35 36
+f 31 36 32
+f 32 36 45
+f 32 45 37
+f 33 34 38
+f 34 39 40
+f 34 40 38
+f 34 41 42
+f 34 42 43
+f 34 43 39
+f 35 44 45
+f 35 45 36
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 38 40 49
+f 39 43 50
+f 39 50 40
+f 40 50 49
+f 41 51 42
+f 42 51 46
+f 42 46 50
+f 42 50 43
+f 44 52 45
+f 45 52 50
+f 45 50 46
+f 46 51 47
+f 47 51 53
+f 47 53 48
+f 49 50 54
+f 50 52 54
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_24.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40483baa42e838d5600dc9fcf398db8b3a8db61
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.17744416 0.04198151 -0.15162310
+v 0.17743602 0.04198150 -0.14984426
+v 0.17590535 0.04198154 -0.16060751
+v 0.17535985 0.12355521 -0.15906998
+v 0.17653228 0.12355519 -0.15162280
+v 0.17654857 0.12534927 -0.14984395
+v 0.09426730 0.04198150 -0.14984426
+v 0.17181816 0.04198156 -0.16640332
+v 0.17090628 0.23692630 -0.17696672
+v 0.17634502 0.13529311 -0.15162275
+v 0.17637758 0.13708718 -0.14984391
+v 0.09426730 0.04198159 -0.17539304
+v 0.09426730 0.23692620 -0.14984354
+v 0.16627357 0.04198158 -0.17045214
+v 0.09950249 0.23692630 -0.17696672
+v 0.17113425 0.23692629 -0.17523833
+v 0.16601304 0.04198158 -0.17063799
+v 0.15699190 0.04198158 -0.17277790
+v 0.14092809 0.10702678 -0.17696720
+v 0.17610076 0.14699284 -0.15162271
+v 0.17526215 0.19390629 -0.15044373
+v 0.17531100 0.19390629 -0.14984370
+v 0.17593791 0.16052482 -0.14984382
+v 0.10144839 0.10009855 -0.17696722
+v 0.10604038 0.08887597 -0.17696726
+v 0.11103131 0.08429532 -0.17696728
+v 0.12205534 0.08332193 -0.17696728
+v 0.12640307 0.08452435 -0.17696728
+v 0.09872088 0.04198159 -0.17530278
+v 0.09426730 0.10009854 -0.17506362
+v 0.16219453 0.23692620 -0.14984354
+v 0.09426730 0.23692624 -0.16004394
+v 0.09426730 0.18235933 -0.17073306
+v 0.09426730 0.18436336 -0.17046223
+v 0.09426730 0.20552975 -0.16649564
+v 0.09426730 0.11183645 -0.17497330
+v 0.09426730 0.11653161 -0.17490160
+v 0.17103654 0.23692629 -0.17482947
+v 0.16933491 0.22711597 -0.14984358
+v 0.17322669 0.21736301 -0.14984361
+v 0.17485505 0.20564420 -0.14984365
+v 0.17519702 0.19860146 -0.14984368
+v 0.15647896 0.04198158 -0.17280976
+v 0.13273742 0.08918134 -0.17696726
+v 0.13385284 0.09067006 -0.17696726
+v 0.13756552 0.09588054 -0.17696724
+v 0.17529472 0.19459339 -0.14984370
+v 0.14486058 0.04198159 -0.17349474
+v 0.11054281 0.04198159 -0.17493109
+v 0.11002987 0.04198159 -0.17495232
+v 0.09892443 0.04198159 -0.17529747
+v 0.16705519 0.23070416 -0.14984356
+v 0.14537352 0.04198159 -0.17346820
+f 1 2 7
+f 1 7 12
+f 1 12 29
+f 1 29 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 53
+f 1 53 43
+f 1 43 18
+f 1 18 17
+f 1 17 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 23
+f 2 23 22
+f 2 22 47
+f 2 47 42
+f 2 42 41
+f 2 41 40
+f 2 40 39
+f 2 39 52
+f 2 52 31
+f 2 31 13
+f 2 13 7
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 10 11
+f 5 11 6
+f 5 9 10
+f 7 13 32
+f 7 32 35
+f 7 35 34
+f 7 34 33
+f 7 33 37
+f 7 37 36
+f 7 36 30
+f 7 30 12
+f 8 14 9
+f 9 15 32
+f 9 32 13
+f 9 13 31
+f 9 31 38
+f 9 38 16
+f 9 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 46
+f 9 46 45
+f 9 45 44
+f 9 44 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 24
+f 9 24 15
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 10 16 20
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 30 15
+f 12 15 24
+f 15 33 34
+f 15 34 35
+f 15 35 32
+f 15 30 36
+f 15 36 37
+f 15 37 33
+f 16 38 39
+f 16 39 40
+f 16 40 41
+f 16 41 42
+f 16 42 21
+f 16 21 20
+f 18 43 44
+f 18 44 45
+f 18 45 46
+f 18 46 19
+f 21 42 47
+f 21 47 22
+f 28 44 48
+f 28 48 49
+f 28 49 50
+f 28 50 51
+f 28 51 29
+f 31 52 38
+f 38 52 39
+f 43 53 44
+f 44 53 48
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_25.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8ef6df2811ea20fb36614c8ea6d575d891b8bf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_25.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.17091016 0.23693636 -0.17696672
+v 0.16965886 0.23693639 -0.18627706
+v 0.09949487 0.23693636 -0.17696672
+v 0.17060957 0.23572642 -0.17696672
+v 0.16120030 0.14470038 -0.18908509
+v 0.16357010 0.15874120 -0.18908504
+v 0.16500315 0.17029892 -0.18908499
+v 0.16593989 0.18219976 -0.18908495
+v 0.16858931 0.23693640 -0.18850707
+v 0.16644321 0.19191546 -0.18908492
+v 0.10364025 0.19466044 -0.18908490
+v 0.10789749 0.19317956 -0.17696688
+v 0.09971158 0.23693640 -0.18675866
+v 0.15120385 0.19040751 -0.17696689
+v 0.14608678 0.18141415 -0.17696692
+v 0.14497528 0.17946379 -0.17696693
+v 0.16052922 0.14470038 -0.18892257
+v 0.11913827 0.14470038 -0.18908509
+v 0.16810695 0.23611471 -0.18908475
+v 0.16807899 0.23693640 -0.18908475
+v 0.10563955 0.18496278 -0.18908494
+v 0.10342355 0.19702615 -0.18908490
+v 0.11026729 0.18735555 -0.17696690
+v 0.10127746 0.23693640 -0.18872178
+v 0.13945276 0.17511158 -0.17696695
+v 0.14538073 0.14470037 -0.18567245
+v 0.15470611 0.14470038 -0.18755965
+v 0.15699201 0.14470038 -0.18807090
+v 0.12215818 0.14470038 -0.18769607
+v 0.10157106 0.23693640 -0.18908475
+v 0.11501386 0.18209138 -0.17696692
+v 0.13376946 0.17305286 -0.17696695
+v 0.14309483 0.14470037 -0.18546962
+v 0.13376946 0.14470037 -0.18508290
+v 0.12175972 0.17577977 -0.17696694
+v 0.13017632 0.17377522 -0.17696695
+f 1 2 9
+f 1 9 20
+f 1 20 30
+f 1 30 24
+f 1 24 13
+f 1 13 3
+f 1 3 12
+f 1 12 23
+f 1 23 31
+f 1 31 35
+f 1 35 36
+f 1 36 32
+f 1 32 25
+f 1 25 16
+f 1 16 15
+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 10
+f 2 10 9
+f 3 11 12
+f 3 13 11
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 28
+f 5 28 27
+f 5 27 26
+f 5 26 33
+f 5 33 34
+f 5 34 29
+f 5 29 18
+f 5 18 21
+f 5 21 11
+f 5 11 22
+f 5 22 30
+f 5 30 20
+f 5 20 19
+f 5 19 10
+f 5 10 8
+f 5 8 7
+f 5 7 6
+f 9 19 20
+f 9 10 19
+f 11 21 12
+f 11 13 22
+f 12 21 18
+f 12 18 23
+f 13 24 22
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 18 29 23
+f 22 24 30
+f 23 29 31
+f 25 32 26
+f 26 32 33
+f 29 34 35
+f 29 35 31
+f 32 36 34
+f 32 34 33
+f 34 36 35
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_26.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265ac5209b30ecd5389a67b48017ad1c47bde979
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_26.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.16120420 0.14469271 -0.18908509
+v 0.16064723 0.13876062 -0.18908511
+v 0.11914168 0.14469271 -0.18908509
+v 0.15699143 0.14469271 -0.18807090
+v 0.13398414 0.13087929 -0.17696711
+v 0.13893755 0.12380376 -0.17696714
+v 0.14152091 0.11181682 -0.17696718
+v 0.16015545 0.13527658 -0.18908512
+v 0.14092839 0.10700517 -0.17696720
+v 0.10228467 0.11723478 -0.18908519
+v 0.10471991 0.11766449 -0.17696716
+v 0.12215757 0.14469271 -0.18769607
+v 0.15471025 0.14469271 -0.18755965
+v 0.14537817 0.14469270 -0.18567245
+v 0.14309699 0.14469270 -0.18546962
+v 0.13376491 0.14469270 -0.18508290
+v 0.12171319 0.12740292 -0.17696712
+v 0.15868602 0.12543839 -0.18908516
+v 0.15292679 0.10006782 -0.18908525
+v 0.15547460 0.11028204 -0.18908521
+v 0.15584788 0.11181686 -0.18908521
+v 0.15831866 0.12354288 -0.18908517
+v 0.13756884 0.09587772 -0.17696724
+v 0.10096930 0.11181686 -0.18908521
+v 0.10234392 0.11211611 -0.17696718
+v 0.11921870 0.12635157 -0.17696713
+v 0.15056859 0.09326089 -0.18908528
+v 0.13384193 0.09066701 -0.17696726
+v 0.14578108 0.08227926 -0.18908532
+v 0.14878511 0.08836482 -0.18908530
+v 0.10067304 0.10009084 -0.18908525
+v 0.10153218 0.10822535 -0.17696719
+v 0.13272801 0.08917056 -0.17696726
+v 0.14136093 0.07627044 -0.18908534
+v 0.10134851 0.08884062 -0.18908529
+v 0.10144331 0.10009080 -0.17696722
+v 0.12639997 0.08451238 -0.17696728
+v 0.13376491 0.06849658 -0.18908537
+v 0.10137813 0.08836482 -0.18908530
+v 0.10189362 0.08595515 -0.18908530
+v 0.10604121 0.08887127 -0.17696726
+v 0.12205684 0.08332290 -0.17696728
+v 0.12215757 0.06630179 -0.18908538
+v 0.10399704 0.08123558 -0.18908532
+v 0.11113683 0.07462819 -0.18908535
+v 0.11103017 0.08428984 -0.17696728
+f 1 2 8
+f 1 8 18
+f 1 18 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 27
+f 1 27 30
+f 1 30 29
+f 1 29 34
+f 1 34 38
+f 1 38 43
+f 1 43 45
+f 1 45 44
+f 1 44 40
+f 1 40 39
+f 1 39 35
+f 1 35 31
+f 1 31 24
+f 1 24 10
+f 1 10 3
+f 1 3 12
+f 1 12 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 26
+f 5 26 11
+f 5 11 25
+f 5 25 32
+f 5 32 36
+f 5 36 41
+f 5 41 46
+f 5 46 42
+f 5 42 37
+f 5 37 33
+f 5 33 28
+f 5 28 23
+f 5 23 9
+f 5 9 7
+f 5 7 6
+f 8 9 18
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 18
+f 9 23 19
+f 10 24 25
+f 10 25 11
+f 11 26 12
+f 12 26 17
+f 12 17 16
+f 19 23 27
+f 23 28 29
+f 23 29 30
+f 23 30 27
+f 24 31 32
+f 24 32 25
+f 28 33 34
+f 28 34 29
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 46 43
+f 43 46 45
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_27.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638305f28011fb7cc1e20004c86aec4e5a13e019
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_27.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.07808842 -0.22950645 -0.19088070
+v -0.07808842 -0.25114456 -0.19185142
+v -0.07808842 -0.22950645 -0.19053462
+v -0.01648162 -0.22950645 -0.19053462
+v 0.00101300 -0.25114456 -0.19143418
+v -0.07808842 -0.25114456 -0.19053470
+v -0.00560847 -0.24005329 -0.19053429
+v 0.00101300 -0.24012743 -0.19053466
+v 0.00101300 -0.24635514 -0.19104346
+v 0.00101300 -0.25114456 -0.19053470
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 8
+f 5 8 10
+f 6 10 7
+f 7 10 8
+
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_28.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18130bce144815bd6a5f943d9113b3c2832232f4
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05892638 -0.22950196 -0.19110423
+v -0.05892638 -0.22950196 -0.19010423
+v -0.05892638 -0.18829370 -0.19110423
+v -0.05892638 -0.18829370 -0.19010423
+v -0.01647964 -0.22950196 -0.19110423
+v -0.01647964 -0.22950196 -0.19010423
+v -0.01647964 -0.18829370 -0.19110423
+v -0.01647964 -0.18829370 -0.19010423
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_3.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6065de803b512f225e07e75f41169ec0c957ad00
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_3.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_4.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf1346804f570456679efbe1d4bc6f3b46f8bc2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_4.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_5.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f2372d4888d16acf434b648905e37c5ac4ad0e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_5.obj
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_6.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd6d698ac22255b8c29f49f23d813af4464a518
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_6.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_7.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df07fba05adcb7dbc96f6bad4fa204cdf7d6ff3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_8.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..835c37fad89dcf71ed4e450a2359bbd5b1662cc2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_9.obj b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bcbc660e9ce8911b9d503ac16752c1ee3562fc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/air_conditioner_3_collision_9.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe0d2709eac5c7ae622ae8a34ecb0568e02dd6ef
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2edca6b9d617e199cf05732b79d61d509f70609ee4902c65a7974de3233a426a
+size 1165010
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/textures/material_0.png b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe0d2709eac5c7ae622ae8a34ecb0568e02dd6ef
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2edca6b9d617e199cf05732b79d61d509f70609ee4902c65a7974de3233a426a
+size 1165010
diff --git a/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/video.mp4 b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c062bda4f42a9cb6a2dec6613062333da0d26424
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/78b86295399659f9aded5ff7945acd0e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 359601