diff --git a/.gitattributes b/.gitattributes
index b1c8c8af71e7ab7c121678877c642ce21d3c774a..08f9870bbd8a7bbe30b5fafa814c484dc6dfaa41 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3842,3 +3842,4 @@ dataset/home_appliances/electrical_appliances/0471e7fcfb9d53c2b34057079cf91efd/0
 dataset/home_appliances/electrical_appliances/342d0d6bc8f65907bf18a1338152b989/342d0d6bc8f65907bf18a1338152b989.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/37fbcc432b035633bc93b27fe2888cb1/37fbcc432b035633bc93b27fe2888cb1.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/5a05c47c5f465471a0888acda6258458/5a05c47c5f465471a0888acda6258458.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.urdf b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e7c40cf7f5cb405e48306065ed7fdc37064c981
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="washing_machine_42">
+   <link name="washing_machine_42">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/washing_machine_42.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/washing_machine_42_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="70.0000" />
+         <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>0.925000</scale>
+         <version>v0.1.5</version>
+         <category>washing_machine</category>
+         <description>modern front-loading washing machine with blue door and control panel</description>
+         <min_height>0.85</min_height>
+         <max_height>1.0</max_height>
+         <real_height>0.925</real_height>
+         <min_mass>60.0</min_mass>
+         <max_mass>80.0</max_mass>
+         <generate_time>20251024145127</generate_time>
+         <gs_model>mesh/washing_machine_42_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.887460708618164</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Major under-segmentation: controls, door glass, top, and feet merged into body; only some panel details separated.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.usd b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5c4e16debff26449ec55a208ffca2b62214442c2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2ef7bbaf9014573e960f8029e500d274.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df933549af183814f05bbb7ae5b8d2c494b50b59aa508621a179b141defd43a7
+size 321411
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b5a8aebd8d5c9ee2be5215a6d415f354558874e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76518973777c649278a7ebeb822f76d885af5601a9f8a5fa954c0d4ee86f8dc
+size 1668514
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.glb b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dec4866098dfbb0cd05c079250d0e9ff7afc2740
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef6c609feb243eac74404d724816f9e03e6c187c9336b26d93a139313b7ed3e
+size 1896608
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88166c866860e8b9906d7e80399a65fd4be93368
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42.obj
@@ -0,0 +1,20928 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42_collision.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7025874dfba791d6a54a79889a195a5be79bc10
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mesh/washing_machine_42_collision.obj
@@ -0,0 +1,12862 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42.obj
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08042538230ffd0c9d5e5e3986b14972fc25554
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision.obj
@@ -0,0 +1,12862 @@
+# https://github.com/mikedh/trimesh
+
+o washing_machine_42_collision.obj
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_0.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b66772767aa7342ead5e9fdce532c7bf46b1fc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_0.obj
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_1.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6f7d615e05c4a80bdd0035591ffc73114b62f0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_1.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_10.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68532ac09296900f1cfc04a0cc23cfc3850ac982
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_11.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7f0680108e3be67a3de1556261d9fdd7d82153
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_11.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_12.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac30040e1b01d2d300a21fe9e26c95a3989ae3c1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_12.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_13.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5460722c12522987f624fbd76391e1a47d4836
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_14.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebadd16b62a97573bcab7a3291905562c8e70b1d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.25006145 -0.32090332 -0.32108853
+v -0.26527074 -0.32069583 -0.32108853
+v -0.23408115 -0.31887001 -0.32108852
+v -0.21595299 -0.31644331 -0.09528649
+v -0.25006145 -0.32051053 0.06543851
+v -0.26527074 -0.32044827 0.06543851
+v -0.27813026 -0.31866253 -0.32108852
+v -0.27798340 -0.31858096 0.06543852
+v -0.21595299 -0.31650471 -0.32108851
+v -0.21595299 -0.31619482 0.03804565
+v -0.21595299 -0.31604969 0.06543853
+v -0.28573949 -0.31577855 -0.32108851
+v -0.28559263 -0.31577937 -0.09895654
+v -0.28559263 -0.31571771 0.06543853
+v -0.21595299 -0.10896186 -0.32108775
+v -0.21595299 -0.10896328 0.06543929
+v -0.29569851 -0.30901493 -0.25113074
+v -0.29569851 -0.30899413 -0.26634059
+v -0.29163227 -0.31167043 -0.32108849
+v -0.28765785 -0.31426534 0.06543854
+v -0.29569851 -0.30887042 -0.05328910
+v -0.29569851 -0.30889111 -0.06849896
+v -0.29569851 -0.30891181 -0.08374665
+v -0.29015450 -0.10896186 -0.32108775
+v -0.29059508 -0.10896328 0.06543929
+v -0.30395026 -0.30247929 -0.25113071
+v -0.30395026 -0.30245850 -0.26634056
+v -0.29569851 -0.30882794 -0.32108848
+v -0.29569851 -0.30843516 0.06543856
+v -0.29569851 -0.30851811 0.05325554
+v -0.29569851 -0.30858028 0.03804568
+v -0.30384010 -0.30231414 -0.02283155
+v -0.30386763 -0.30237628 -0.05328908
+v -0.30730969 -0.17332235 -0.32108799
+v -0.30804400 -0.17332272 -0.22067268
+v -0.29061344 -0.10896217 -0.23592014
+v -0.29063180 -0.10896328 0.06449340
+v -0.30736475 -0.17332377 0.06543905
+v -0.30731888 -0.29409682 -0.32108843
+v -0.30590532 -0.29737500 -0.32108844
+v -0.30378504 -0.30225081 -0.32108846
+v -0.29729560 -0.30714877 0.06543856
+v -0.30371161 -0.30216914 0.03804570
+v -0.30374831 -0.30221057 0.02283586
+v -0.30377584 -0.30225202 0.00758817
+v -0.30385847 -0.30233484 -0.03807923
+v -0.30381257 -0.30227270 -0.00762169
+v -0.30658457 -0.29409820 0.05325559
+v -0.30808990 -0.18842694 -0.32108804
+v -0.30825512 -0.17332294 -0.15979543
+v -0.29115500 -0.10896273 -0.08374592
+v -0.29087045 -0.10896322 0.04928355
+v -0.30910873 -0.27899366 0.06543867
+v -0.29093469 -0.10896318 0.03804641
+v -0.30820003 -0.17332311 -0.11416586
+v -0.30971455 -0.27899224 -0.32108837
+v -0.30351886 -0.30192025 0.06543858
+v -0.30361982 -0.30206544 0.05325556
+v -0.30652031 -0.29409824 0.06543861
+v -0.30823676 -0.17332305 -0.12937572
+v -0.29121006 -0.10896283 -0.05726110
+v -0.29119170 -0.10896277 -0.07250879
+v -0.29118253 -0.10896289 -0.04205125
+f 1 2 7
+f 1 7 12
+f 1 12 19
+f 1 19 28
+f 1 28 41
+f 1 41 40
+f 1 40 39
+f 1 39 56
+f 1 56 49
+f 1 49 34
+f 1 34 24
+f 1 24 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 5
+f 4 9 15
+f 4 15 16
+f 4 16 11
+f 4 11 10
+f 5 10 11
+f 5 11 16
+f 5 16 25
+f 5 25 38
+f 5 38 53
+f 5 53 59
+f 5 59 57
+f 5 57 42
+f 5 42 29
+f 5 29 20
+f 5 20 14
+f 5 14 8
+f 5 8 6
+f 7 8 13
+f 7 13 12
+f 8 14 13
+f 12 17 18
+f 12 18 19
+f 12 13 14
+f 12 14 17
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 17
+f 15 24 36
+f 15 36 51
+f 15 51 62
+f 15 62 61
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+f 15 63 54
+f 15 54 52
+f 15 52 37
+f 15 37 25
+f 15 25 16
+f 17 26 27
+f 17 27 18
+f 17 23 26
+f 18 27 28
+f 18 28 19
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 32 33
+f 21 33 22
+f 21 31 32
+f 22 33 23
+f 23 33 26
+f 24 34 35
+f 24 35 36
+f 25 37 38
+f 26 39 27
+f 26 33 39
+f 27 39 40
+f 27 40 41
+f 27 41 28
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 46 33
+f 32 45 44
+f 32 44 47
+f 32 47 48
+f 32 48 39
+f 32 39 46
+f 33 46 39
+f 34 49 35
+f 35 50 51
+f 35 51 36
+f 35 49 50
+f 37 52 38
+f 38 52 54
+f 38 54 55
+f 38 55 53
+f 39 48 53
+f 39 53 56
+f 42 57 58
+f 42 58 43
+f 43 58 59
+f 43 59 48
+f 43 48 44
+f 44 48 47
+f 48 59 53
+f 49 56 50
+f 50 56 60
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 53 55 60
+f 53 60 56
+f 54 63 55
+f 55 63 60
+f 57 59 58
+f 60 63 61
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_15.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a13f6ee1a2c4cb58ac52428286f7fac4adf7de
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.13969318 0.10457332 -0.44154511
+v 0.14553300 0.09846636 -0.44176625
+v 0.13969318 0.09846636 -0.44154513
+v 0.13969318 0.14265234 -0.44121325
+v 0.14543421 0.11268564 -0.44161879
+v 0.16074729 0.11356617 -0.44183990
+v 0.16074729 0.09846636 -0.44195053
+v 0.14539030 0.08461635 -0.44158203
+v 0.13969318 0.08796808 -0.44147146
+v 0.14715762 0.14265234 -0.44121325
+v 0.13969318 0.14265096 -0.06542676
+v 0.17110968 0.12405878 -0.44147132
+v 0.17609330 0.11292423 -0.44154508
+v 0.18390901 0.10746490 -0.44143454
+v 0.16188890 0.14265234 -0.44113952
+v 0.17735567 0.09743245 -0.44158198
+v 0.18334917 0.09170610 -0.44139770
+v 0.18070369 0.08461635 -0.44136088
+v 0.17164757 0.08461635 -0.44154518
+v 0.16074729 0.08461635 -0.44169260
+v 0.15948491 0.08461635 -0.44169260
+v 0.13969318 0.08461635 -0.44139773
+v 0.13969318 0.08461515 -0.11562520
+v 0.23680774 0.14265096 -0.06634817
+v 0.17597255 0.14265234 -0.44084468
+v 0.17609330 0.12891594 -0.44121330
+v 0.18125255 0.11752575 -0.44136076
+v 0.18390901 0.10177264 -0.44143456
+v 0.18985860 0.11292423 -0.44069738
+v 0.18985860 0.09743245 -0.44099226
+v 0.19105511 0.08461635 -0.44047635
+v 0.23680774 0.08461516 -0.11743115
+v 0.23827868 0.14265096 -0.06664301
+v 0.17707026 0.14265234 -0.44077098
+v 0.19117585 0.12866030 -0.43996018
+v 0.23114354 0.08461630 -0.42706065
+v 0.25182444 0.08461517 -0.12085879
+v 0.25027667 0.14265098 -0.07029179
+v 0.19117585 0.14265233 -0.43922302
+v 0.23680774 0.14265227 -0.42274827
+v 0.23163752 0.08461630 -0.42683952
+v 0.25182444 0.08461558 -0.23223844
+v 0.25182444 0.14265098 -0.07117634
+v 0.25130851 0.14265098 -0.07077092
+v 0.23762002 0.14265227 -0.42226911
+v 0.23861897 0.08461628 -0.42304332
+v 0.25116581 0.12866016 -0.40336190
+v 0.25182444 0.09846558 -0.22755763
+v 0.25049619 0.08461621 -0.40336206
+v 0.25182444 0.14265147 -0.20345348
+v 0.24783973 0.14265225 -0.41607727
+v 0.24786169 0.12866021 -0.41611418
+v 0.24771899 0.11356608 -0.41589310
+v 0.24748845 0.08461626 -0.41537720
+v 0.24774095 0.08461625 -0.41438208
+v 0.25114386 0.14265220 -0.40336185
+v 0.25182444 0.12865946 -0.21252017
+f 1 2 3
+f 1 3 9
+f 1 9 22
+f 1 22 23
+f 1 23 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 4 5
+f 4 10 6
+f 4 6 5
+f 4 11 24
+f 4 24 33
+f 4 33 38
+f 4 38 44
+f 4 44 43
+f 4 43 50
+f 4 50 56
+f 4 56 51
+f 4 51 45
+f 4 45 40
+f 4 40 39
+f 4 39 34
+f 4 34 25
+f 4 25 15
+f 4 15 10
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 10 15
+f 6 15 12
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 20
+f 8 20 19
+f 8 19 18
+f 8 18 31
+f 8 31 36
+f 8 36 41
+f 8 41 46
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+f 8 54 55
+f 8 55 49
+f 8 49 42
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+f 8 32 23
+f 8 23 22
+f 8 22 9
+f 11 23 24
+f 12 15 25
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+f 12 27 13
+f 13 27 14
+f 14 28 16
+f 14 27 29
+f 14 29 30
+f 14 30 28
+f 16 28 17
+f 17 30 31
+f 17 31 18
+f 17 28 30
+f 23 32 24
+f 24 32 33
+f 25 34 27
+f 25 27 26
+f 27 34 35
+f 27 35 29
+f 29 35 30
+f 30 35 36
+f 30 36 31
+f 32 37 33
+f 33 37 38
+f 34 39 35
+f 35 39 40
+f 35 40 36
+f 36 40 41
+f 37 42 48
+f 37 48 57
+f 37 57 50
+f 37 50 43
+f 37 43 44
+f 37 44 38
+f 40 45 46
+f 40 46 41
+f 42 47 48
+f 42 49 47
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 47 49 55
+f 47 55 54
+f 47 54 52
+f 47 52 56
+f 47 56 48
+f 48 56 57
+f 50 57 56
+f 51 56 52
+f 52 54 53
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_16.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c775f55abff17ecbe94c89c97af1d057ae3b12d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.18551121 0.14265027 0.12329005
+v 0.22108599 0.14265031 0.11242079
+v 0.18551121 0.07858601 0.17256841
+v 0.18551121 0.14264901 0.46460551
+v 0.23246460 0.14265032 0.10896081
+v 0.23680818 0.14265032 0.10766767
+v 0.22275592 0.07858604 0.16428542
+v 0.18551121 0.07858493 0.46457034
+v 0.18551121 0.12303346 0.46460544
+v 0.19005911 0.14264901 0.46464046
+v 0.25302778 0.14265030 0.11378382
+v 0.25029196 0.07858604 0.16435532
+v 0.24163142 0.07858604 0.16204866
+v 0.23680818 0.07858605 0.16155936
+v 0.20638530 0.07858493 0.46467518
+v 0.19116943 0.08336340 0.46460530
+v 0.19116943 0.12865223 0.46464041
+v 0.20638530 0.14264901 0.46471036
+v 0.25390718 0.14265030 0.11451776
+v 0.25758457 0.07858602 0.16865409
+v 0.22049086 0.07858495 0.46069095
+v 0.22045533 0.14264903 0.46069118
+v 0.26335824 0.14265025 0.12842761
+v 0.25781552 0.13782164 0.12363953
+v 0.26318949 0.07858599 0.17578375
+v 0.25800204 0.07858602 0.16907348
+v 0.22809436 0.07858497 0.45565825
+v 0.22805883 0.14264905 0.45565848
+v 0.26385567 0.14265025 0.12926638
+v 0.27017118 0.07858594 0.19028775
+v 0.23424111 0.11355811 0.44803941
+v 0.23423222 0.14264907 0.44803951
+v 0.23377921 0.14264907 0.44859872
+v 0.23227805 0.07858499 0.45045081
+v 0.23423222 0.09846392 0.44803935
+v 0.26960272 0.14265019 0.14460915
+v 0.27407955 0.07858589 0.20283456
+v 0.24112512 0.12865235 0.43381508
+v 0.23473855 0.14264908 0.44699104
+v 0.23421445 0.07858499 0.44803928
+v 0.27347552 0.14265014 0.15740062
+v 0.27456808 0.07858589 0.20538587
+v 0.27388413 0.14265014 0.15879860
+v 0.24367441 0.14264917 0.42200223
+v 0.24109848 0.14264913 0.43381513
+v 0.24110735 0.11355817 0.43381503
+v 0.24076981 0.07858505 0.43381490
+v 0.24096523 0.09846398 0.43381497
+v 0.27529646 0.07858587 0.21006908
+v 0.27478127 0.13666133 0.16795531
+v 0.27391966 0.14265014 0.15900830
+v 0.24370107 0.12865239 0.42175754
+v 0.24493576 0.14264920 0.41494249
+v 0.24367441 0.11355821 0.42144295
+v 0.27510102 0.07858578 0.23449868
+v 0.27583830 0.07858583 0.22030925
+v 0.27596265 0.14265008 0.17351228
+v 0.27598042 0.14251839 0.17382682
+v 0.24502458 0.14264920 0.41438328
+v 0.27543856 0.07858579 0.23208718
+v 0.27541193 0.08336426 0.23166781
+v 0.27597152 0.08336430 0.22072866
+v 0.27624687 0.12865324 0.19028793
+v 0.27598042 0.14265008 0.17386177
+v 0.24664121 0.14264924 0.40337424
+v 0.27517208 0.09483385 0.22988543
+v 0.27570504 0.09930505 0.22188203
+v 0.27558068 0.11355896 0.21768817
+v 0.27622024 0.11355901 0.20552580
+v 0.27598929 0.14265008 0.17484036
+v 0.27606925 0.14265002 0.19123160
+v 0.27518098 0.12409417 0.21475246
+v 0.27550962 0.14039244 0.20168146
+v 0.27578500 0.14265000 0.19636916
+v 0.27579387 0.12893537 0.20625978
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 22
+f 1 22 28
+f 1 28 33
+f 1 33 32
+f 1 32 39
+f 1 39 45
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+f 1 53 59
+f 1 59 65
+f 1 65 74
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+f 1 71 70
+f 1 70 64
+f 1 64 57
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+f 1 51 43
+f 1 43 41
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+f 1 29 23
+f 1 23 19
+f 1 19 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
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+f 3 5 6
+f 3 6 7
+f 3 7 14
+f 3 14 13
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+f 3 20 26
+f 3 26 25
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+f 3 30 37
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+f 3 42 49
+f 3 49 56
+f 3 56 60
+f 3 60 55
+f 3 55 47
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+f 3 40 34
+f 3 34 27
+f 3 27 21
+f 3 21 15
+f 3 15 8
+f 4 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 15 18 17
+f 15 17 16
+f 15 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 28
+f 21 28 22
+f 23 29 25
+f 23 25 24
+f 25 29 30
+f 27 31 32
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+f 27 35 31
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+f 46 54 52
+f 47 54 48
+f 47 55 54
+f 49 50 57
+f 49 57 58
+f 49 58 56
+f 50 51 57
+f 52 54 53
+f 53 54 55
+f 53 55 59
+f 55 60 61
+f 55 61 59
+f 56 62 60
+f 56 58 63
+f 56 63 62
+f 57 64 58
+f 58 64 63
+f 59 61 66
+f 59 66 65
+f 60 62 61
+f 61 62 67
+f 61 67 68
+f 61 68 66
+f 62 69 67
+f 62 63 69
+f 63 64 70
+f 63 70 71
+f 63 71 69
+f 65 66 68
+f 65 68 72
+f 65 72 73
+f 65 73 74
+f 67 69 68
+f 68 69 75
+f 68 75 72
+f 69 71 75
+f 71 74 75
+f 72 75 73
+f 73 75 74
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_17.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0289b039040ab49a943e853d32c521773af3084d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.31369139 -0.03909985 0.40503915
+v -0.31367972 -0.03909984 0.40336849
+v -0.31268632 -0.06762609 0.13959178
+v -0.31331742 -0.10896458 0.41859336
+v -0.31343427 -0.06762712 0.41859351
+v -0.31345766 -0.05253252 0.41859357
+v -0.31346934 -0.03909990 0.41859362
+v -0.31357451 -0.03909979 0.38981399
+v -0.30941406 -0.05549295 0.13959183
+v -0.29042322 -0.10896355 0.13959163
+v -0.31158778 -0.10896430 0.34246760
+v -0.31265128 -0.10896435 0.35769276
+v -0.31337586 -0.03909973 0.37291817
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_18.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42345557a377a5c085e9018eab82d5ebb9086c3c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_18.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_19.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1267b4749e4c61ed86bbbe8982348db4c99a0b91
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_19.obj
@@ -0,0 +1,115 @@
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_2.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b97157b9ece8230bc4be6cd12fc292987513aad
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_2.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.27859468 0.18801947 -0.09941617
+v 0.27337987 0.20415101 -0.09941611
+v 0.27755172 0.17348511 -0.09941622
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+v -0.18917449 0.14266074 -0.44313308
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_20.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e330e2f67023ed0992be53770b348ed6e1b07b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.13969318 0.08461635 -0.44139787
+v 0.14551104 0.08461635 -0.44158944
+v 0.14579646 0.08394404 -0.44158944
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+v 0.15104351 0.07537516 -0.44146176
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_21.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4919a7fbf1f6a8e8ac31957b65fda0cf0912e5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_21.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.21594384 -0.10896142 -0.44345082
+v -0.20837199 -0.10896142 -0.44345082
+v -0.15876582 -0.18842850 -0.44475484
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+v -0.21594384 -0.16188404 -0.44329761
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_22.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7482f3d4db882e3f63b8b79a3e607c50cbe7921
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_22.obj
@@ -0,0 +1,208 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_23.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe8b7e82c24a9a07d2975937e599d631641f9ba
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_23.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_24.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed09836e669be977b00c3dda110703f9dd595c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_24.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_25.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be2914430e0c4b8c117393248b6dc49860d4e80
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_25.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_26.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77bc0de18ea94f760db4d5b9aa255113a1fdba2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_26.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_27.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a19d6c8e9778b941fec85d13603a01d1346d2d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_27.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.13741660 0.14264517 -0.06416349
+v 0.07594605 0.08339082 -0.06416370
+v 0.13968219 0.14264517 -0.06543297
+v -0.29398862 0.14264517 -0.06416349
+v 0.13968219 0.08339101 -0.11631852
+v -0.27458137 0.08339082 -0.06416370
+v 0.13968219 0.14264616 -0.33435294
+v -0.29398862 0.14264518 -0.06850090
+v -0.29702365 0.08339181 -0.33435315
+v -0.29565574 0.08339082 -0.06419014
+v -0.29240696 0.09417436 -0.06416366
+v 0.13968219 0.08339181 -0.33435315
+v -0.29347563 0.14264616 -0.33435294
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 9
+f 2 9 12
+f 2 12 5
+f 3 5 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 7 12 9
+f 7 9 13
+f 8 13 9
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_28.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d225b93847d56a6a7cb89b75d9f871db8fd9ea5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_28.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.21205933 -0.22979314 0.06543884
+v 0.15913940 -0.22979314 0.06543884
+v -0.21205933 -0.31605768 0.06543852
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+v 0.15913940 -0.31928859 0.06543851
+v 0.15913940 -0.22979455 0.45042866
+v -0.12830709 -0.32063256 0.06543850
+v -0.21205933 -0.32068721 0.40336317
+v -0.21205933 -0.23301656 0.44992131
+v -0.12830709 -0.22979460 0.46159005
+v 0.06942819 -0.31978702 0.06543851
+v 0.15913940 -0.32048250 0.40336317
+v 0.07338871 -0.22979459 0.46018513
+v 0.15913940 -0.28059028 0.46030198
+v -0.08267027 -0.32065078 0.17506205
+v -0.12830709 -0.32072209 0.20550221
+v -0.08267027 -0.32056137 0.06543850
+v -0.20439265 -0.32069612 0.40336317
+v -0.20439265 -0.32063386 0.41858324
+v -0.21205933 -0.32061607 0.41858324
+v -0.21205933 -0.24061770 0.45714105
+v -0.11311903 -0.22979460 0.46412674
+v 0.15913940 -0.32042916 0.41858324
+v -0.05225785 -0.32060710 0.40336317
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+v -0.08267027 -0.32067765 0.22076130
+v -0.08267027 -0.32066868 0.20550221
+v 0.06942819 -0.22979459 0.46061442
+v 0.15913940 -0.29410137 0.46256544
+v -0.06744589 -0.32061601 0.40336317
+v -0.20439265 -0.32048261 0.43380331
+v -0.21205933 -0.32048261 0.43380331
+v 0.02379138 -0.32042030 0.43380331
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+v -0.18916826 -0.29410137 0.46291668
+v -0.12830709 -0.27900597 0.46354113
+v -0.11311903 -0.23371976 0.46408768
+v -0.09789465 -0.24881516 0.46393156
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+v -0.08267027 -0.22979460 0.46397061
+v -0.21205933 -0.26391058 0.46260459
+v -0.21205933 -0.27900597 0.46268260
+v -0.21205933 -0.29410137 0.46268254
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+v 0.03901577 -0.32041142 0.43380331
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+v 0.05420380 -0.22979460 0.46166812
+v 0.04293995 -0.22979460 0.46213639
+v 0.03901577 -0.22979460 0.46225348
+v 0.02775190 -0.22979460 0.46248762
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+v 0.00856700 -0.22979460 0.46287788
+v -0.00665738 -0.22979460 0.46315111
+v -0.03703347 -0.22979460 0.46358040
+v -0.04829733 -0.22979460 0.46369744
+v -0.06352171 -0.22979460 0.46385357
+v 0.08465257 -0.29410137 0.46318984
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+v -0.17398022 -0.32016225 0.44902340
+v -0.21205933 -0.32030464 0.44137432
+v -0.17398022 -0.29410137 0.46303377
+v -0.21205933 -0.30169358 0.46209714
+v -0.11311903 -0.27900597 0.46358022
+v -0.11311903 -0.26391058 0.46377538
+v -0.15875583 -0.29410137 0.46315087
+v -0.12830709 -0.29410137 0.46330694
+v -0.08267027 -0.27900597 0.46361920
+v -0.06744589 -0.29410137 0.46342403
+v 0.06942819 -0.30920568 0.46209711
+v 0.13028938 -0.30920568 0.46198002
+v 0.14551376 -0.30920568 0.46194099
+v 0.15913940 -0.31994864 0.44902340
+v 0.14551376 -0.31999313 0.44902340
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+v 0.05420380 -0.32020674 0.44902340
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+v -0.18916826 -0.32014446 0.44902340
+v -0.11311903 -0.31837326 0.45858472
+v -0.14353147 -0.31836435 0.45854568
+v -0.15875583 -0.31834656 0.45854568
+v -0.21205933 -0.32010885 0.44902340
+v -0.21205933 -0.30920567 0.46143363
+v -0.20439265 -0.30920568 0.46151169
+v -0.09789465 -0.27900597 0.46361920
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+v -0.14353147 -0.30920568 0.46182389
+v -0.08267027 -0.29410137 0.46342403
+v -0.05225785 -0.30920568 0.46198002
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+v -0.17398022 -0.31832877 0.45850671
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+v -0.08267027 -0.30920568 0.46194099
+v -0.21205933 -0.31376275 0.45995063
+v -0.20439265 -0.31829316 0.45842864
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_29.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d14e5a0b582b2e4d45f512179622878eeee3ded
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_29.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.10179030 0.14265081 -0.02402748
+v 0.08070007 0.10975400 -0.02402760
+v 0.13741967 0.14265096 -0.06416348
+v -0.29435938 0.14265081 -0.02402748
+v 0.09151990 0.10975415 -0.06416360
+v -0.29080913 0.10975400 -0.02402760
+v -0.29397899 0.14265096 -0.06416348
+v -0.29097819 0.10975415 -0.06416360
+v -0.29097819 0.10975414 -0.06141322
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 6
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_3.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38dc770e65fb1a4a9d9088da8d1f3f728ff1e95b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.14552285 -0.11291941 -0.43355215
+v 0.14552285 -0.12802027 -0.43351146
+v 0.14552285 -0.10896146 -0.43351139
+v 0.20638518 -0.10896147 -0.43041368
+v 0.20638518 -0.14311573 -0.43041381
+v 0.20638518 -0.16426993 -0.43037313
+v 0.14552285 -0.14311572 -0.43347075
+v 0.14552285 -0.16426992 -0.43326703
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+v 0.14553566 -0.10896268 -0.10156869
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+v 0.22159434 -0.15821118 -0.42939489
+v 0.21248422 -0.16426993 -0.43000630
+v 0.14552285 -0.15821117 -0.43334853
+v 0.23172953 -0.16427145 -0.01715665
+v 0.23680352 -0.10896268 -0.10189475
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+v 0.26300636 -0.16427131 -0.05331003
+v 0.27447409 -0.16427116 -0.09402844
+v 0.27516601 -0.10896254 -0.14012686
+v 0.27177053 -0.16427120 -0.08322726
+v 0.27596042 -0.11228698 -0.14363216
+v 0.27498662 -0.16427115 -0.09749297
+v 0.27525571 -0.16137441 -0.10254709
+v 0.27619105 -0.14311683 -0.12940732
+v 0.27525571 -0.16427114 -0.10140585
+f 1 2 7
+f 1 7 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 7
+f 3 8 9
+f 3 9 10
+f 3 10 16
+f 3 16 21
+f 3 21 27
+f 3 27 26
+f 3 26 34
+f 3 34 39
+f 3 39 44
+f 3 44 52
+f 3 52 59
+f 3 59 53
+f 3 53 45
+f 3 45 40
+f 3 40 35
+f 3 35 29
+f 3 29 28
+f 3 28 23
+f 3 23 22
+f 3 22 17
+f 3 17 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 19
+f 6 19 18
+f 6 18 24
+f 6 24 32
+f 6 32 37
+f 6 37 42
+f 6 42 50
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+f 6 15 9
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+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 25 33 34
+f 25 34 26
+f 29 35 36
+f 29 36 30
+f 30 36 31
+f 31 36 32
+f 32 36 37
+f 33 38 39
+f 33 39 34
+f 35 40 36
+f 36 41 37
+f 36 40 41
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 40 45 46
+f 40 46 42
+f 40 42 41
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 42 49 50
+f 43 51 44
+f 44 51 52
+f 45 53 54
+f 45 54 46
+f 46 54 48
+f 46 48 47
+f 48 54 55
+f 48 55 49
+f 49 55 50
+f 50 55 56
+f 51 57 52
+f 52 58 59
+f 52 57 60
+f 52 60 58
+f 53 61 54
+f 53 59 58
+f 53 58 62
+f 53 62 63
+f 53 63 61
+f 54 61 64
+f 54 64 55
+f 55 64 56
+f 56 64 65
+f 61 63 64
+f 62 65 63
+f 63 65 64
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_30.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c9e4d5a0003d4df00f533259f3339972a499415
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_30.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.09642756 0.10975353 0.10738324
+v 0.09642756 0.10975353 0.10517083
+v 0.10180604 0.14264759 -0.02402356
+v 0.09642756 0.14264711 0.10738336
+v -0.29035482 0.10975353 0.10738324
+v 0.09631063 0.10975384 0.02286143
+v 0.09595987 0.10975385 0.02013450
+v 0.09393320 0.10975389 0.00810773
+v 0.09381628 0.10975389 0.00761894
+v 0.09186755 0.10975391 0.00136760
+v 0.08130547 0.10975400 -0.02289174
+v 0.08064291 0.10975401 -0.02402368
+v -0.29429126 0.14264759 -0.02402356
+v -0.29627895 0.14264711 0.10738336
+v -0.29074457 0.10975389 0.00761894
+v -0.29082252 0.10975401 -0.02402368
+v -0.29585021 0.14264742 0.02286155
+v -0.29635689 0.14264730 0.05440127
+v -0.29082252 0.10975399 -0.01898144
+v -0.29635689 0.14264730 0.05328220
+v -0.29623996 0.14264736 0.03807830
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 15
+f 1 15 19
+f 1 19 16
+f 1 16 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 16
+f 3 16 13
+f 3 13 17
+f 3 17 21
+f 3 21 20
+f 3 20 18
+f 3 18 14
+f 3 14 4
+f 5 14 15
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 19 18
+f 16 18 20
+f 16 20 21
+f 16 21 17
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_31.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed08ae60d88ecab4812d9debd0c8f2e2a5bf8230
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_31.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.31307131 0.08336380 0.35770754
+v -0.31301824 0.11355845 0.35770765
+v -0.31233866 0.14264946 0.34358931
+v -0.31237052 0.07858538 0.34247904
+v -0.31259350 0.07858536 0.34730080
+v -0.31307131 0.07858533 0.35770752
+v -0.31288019 0.07858510 0.41858670
+v -0.31297574 0.12865263 0.35770770
+v -0.31292266 0.14264941 0.35770775
+v -0.31228558 0.14264946 0.34247927
+v -0.29901289 0.07858625 0.10742638
+v -0.31256164 0.07858505 0.43381517
+v -0.31247670 0.09846398 0.43381524
+v -0.31278462 0.09846403 0.41858677
+v -0.31271029 0.11355822 0.41858683
+v -0.31261472 0.12865240 0.41858688
+v -0.31245546 0.14264918 0.41858693
+v -0.29630528 0.14265033 0.10742661
+v -0.20460703 0.07858625 0.10742638
+v -0.31138303 0.07858503 0.43863695
+v -0.31232805 0.12865235 0.43381535
+v -0.31224309 0.14264913 0.43381540
+v -0.20460703 0.14265033 0.10742661
+v -0.20460703 0.07858504 0.43450898
+v -0.30880283 0.07858499 0.44904365
+v -0.30849488 0.14264907 0.44904388
+v -0.20460703 0.14264912 0.43426636
+v -0.23933895 0.14264904 0.45854868
+v -0.23700295 0.07858496 0.45695278
+v -0.30735877 0.07858498 0.45168001
+v -0.30409899 0.14264904 0.45723047
+v -0.25006327 0.14264903 0.46108095
+v -0.23941328 0.07858496 0.45809749
+v -0.30425826 0.07858496 0.45733433
+v -0.30423701 0.08336343 0.45733435
+v -0.29570003 0.07858495 0.45972789
+v -0.29570003 0.14264903 0.45948528
+v -0.25117817 0.14264903 0.46115036
+v -0.26526845 0.07858494 0.46156636
+v -0.25006327 0.07858495 0.46052573
+v -0.28529426 0.07858495 0.46094196
+v -0.28048424 0.14264902 0.46146256
+v -0.28159914 0.14264903 0.46132380
+v -0.26526845 0.14264902 0.46177476
+v -0.28048424 0.07858494 0.46149701
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 17
+f 3 17 22
+f 3 22 26
+f 3 26 31
+f 3 31 37
+f 3 37 43
+f 3 43 42
+f 3 42 44
+f 3 44 38
+f 3 38 32
+f 3 32 28
+f 3 28 27
+f 3 27 23
+f 3 23 18
+f 3 18 10
+f 3 10 4
+f 4 10 11
+f 4 11 19
+f 4 19 24
+f 4 24 29
+f 4 29 33
+f 4 33 40
+f 4 40 39
+f 4 39 45
+f 4 45 41
+f 4 41 36
+f 4 36 34
+f 4 34 30
+f 4 30 25
+f 4 25 20
+f 4 20 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 13
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 23
+f 11 23 19
+f 12 20 13
+f 13 21 15
+f 13 15 14
+f 13 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 19 23 27
+f 19 27 24
+f 20 25 26
+f 20 26 21
+f 21 26 22
+f 24 27 28
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 34 36 35
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 38 44 39
+f 39 44 45
+f 41 45 42
+f 42 45 44
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_32.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002dd19b0f4dfa6ffd2078c29a85084defe9c6d3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_32.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.16952126 -0.13311892 0.06543918
+v 0.09334936 -0.13311892 0.06543918
+v -0.16952126 -0.22979314 0.06543883
+v -0.16952126 -0.13312033 0.44812603
+v 0.15913940 -0.17160503 0.06543904
+v 0.15913940 -0.13311916 0.12946120
+v 0.15913940 -0.22979314 0.06543883
+v -0.16952126 -0.22979448 0.43144636
+v -0.16952126 -0.14312274 0.44796976
+v -0.15166626 -0.17331927 0.45691472
+v -0.15185929 -0.15822575 0.45703198
+v -0.15202014 -0.13312036 0.45711019
+v 0.15913940 -0.13312033 0.45031350
+v 0.15913940 -0.22979455 0.45043030
+v -0.13706055 -0.22979458 0.45785204
+v -0.16952126 -0.18553599 0.44382906
+v -0.16952126 -0.15791343 0.44765718
+v -0.15137672 -0.18147640 0.45675845
+v -0.14352696 -0.17331928 0.46074277
+v -0.14352696 -0.15822576 0.46086003
+v -0.14639019 -0.13312037 0.45968825
+v 0.08466314 -0.13312037 0.46097733
+v 0.08466314 -0.14312278 0.46101632
+v 0.08466314 -0.18841280 0.46085992
+v 0.08466314 -0.20350632 0.46062551
+v 0.08466314 -0.21860930 0.45964890
+v 0.07337106 -0.22979459 0.46019569
+v -0.12831000 -0.22979460 0.46160192
+v -0.14404169 -0.18727724 0.45945369
+v -0.16952126 -0.17331923 0.44675874
+v -0.12831000 -0.18841281 0.46390674
+v -0.12831000 -0.17331930 0.46433647
+v -0.14352696 -0.14312278 0.46093820
+v -0.12831000 -0.15822578 0.46441464
+v -0.14352696 -0.13312037 0.46097733
+v 0.06944618 -0.13312038 0.46191480
+v 0.06944618 -0.14312279 0.46195379
+v 0.06944618 -0.18841281 0.46207083
+v 0.06944618 -0.20350633 0.46195357
+v 0.06944618 -0.21860930 0.46125040
+v 0.06944618 -0.22979459 0.46058633
+v -0.11312520 -0.22979460 0.46410191
+v -0.11312520 -0.21860932 0.46418002
+v -0.11312520 -0.18841282 0.46437545
+v -0.11312520 -0.15822578 0.46445373
+v -0.12831000 -0.14312280 0.46445378
+v -0.13345738 -0.13312038 0.46328194
+v 0.05422922 -0.13312038 0.46226636
+v 0.05422922 -0.14312279 0.46234443
+v 0.05422922 -0.15822577 0.46246153
+v 0.05422922 -0.18841281 0.46261766
+v 0.05422922 -0.20350633 0.46250045
+v 0.05422922 -0.21860931 0.46207072
+v 0.05422922 -0.22979460 0.46168009
+v 0.05815410 -0.22979460 0.46148477
+v -0.10916815 -0.22979460 0.46410191
+v -0.06747432 -0.15822578 0.46425841
+v -0.07873422 -0.22979460 0.46394562
+v -0.06747432 -0.21860931 0.46394566
+v -0.09790824 -0.14312280 0.46441469
+v -0.10302346 -0.13312039 0.46445382
+v -0.11312520 -0.13312039 0.46449285
+v -0.12831000 -0.13312039 0.46445382
+v -0.05225735 -0.13312038 0.46410226
+v 0.02379529 -0.17331929 0.46308647
+v 0.02379529 -0.18841281 0.46308642
+v 0.03901225 -0.22979460 0.46226601
+v 0.04293714 -0.22979460 0.46214880
+v -0.01786637 -0.22979460 0.46332062
+v -0.00268158 -0.22979460 0.46308627
+v 0.01253538 -0.22979460 0.46281283
+v -0.05225735 -0.17331929 0.46406303
+v -0.05225735 -0.15822577 0.46410217
+v -0.06747432 -0.13312039 0.46425850
+v -0.07258953 -0.13312039 0.46429753
+v -0.05225735 -0.21860931 0.46382851
+v -0.06747432 -0.22979460 0.46386750
+v -0.00660646 -0.17331929 0.46351615
+v 0.00857833 -0.17331929 0.46332082
+v 0.00857833 -0.18841281 0.46328174
+v -0.04830030 -0.22979460 0.46371127
+v -0.02182343 -0.17331929 0.46371147
+v -0.05225735 -0.22979460 0.46375035
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 30
+f 1 30 17
+f 1 17 9
+f 1 9 4
+f 1 4 12
+f 1 12 21
+f 1 21 35
+f 1 35 47
+f 1 47 63
+f 1 63 62
+f 1 62 61
+f 1 61 75
+f 1 75 74
+f 1 74 64
+f 1 64 48
+f 1 48 36
+f 1 36 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 27
+f 3 27 41
+f 3 41 55
+f 3 55 54
+f 3 54 68
+f 3 68 67
+f 3 67 71
+f 3 71 70
+f 3 70 69
+f 3 69 81
+f 3 81 83
+f 3 83 77
+f 3 77 58
+f 3 58 56
+f 3 56 42
+f 3 42 28
+f 3 28 15
+f 3 15 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 6 13
+f 5 13 14
+f 5 14 7
+f 8 15 16
+f 9 17 10
+f 10 18 19
+f 10 19 11
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 15 28 29
+f 15 29 18
+f 15 18 30
+f 15 30 16
+f 17 30 18
+f 18 29 19
+f 19 29 28
+f 19 28 31
+f 19 31 32
+f 19 32 20
+f 20 33 21
+f 20 32 34
+f 20 34 33
+f 21 33 35
+f 22 36 37
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 27
+f 25 27 26
+f 27 40 41
+f 28 42 31
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 34
+f 33 34 35
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 47
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 54
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 42 56 43
+f 43 56 44
+f 44 57 45
+f 44 56 58
+f 44 58 59
+f 44 59 57
+f 45 60 61
+f 45 61 62
+f 45 62 46
+f 45 57 60
+f 46 62 63
+f 46 63 47
+f 48 64 49
+f 49 64 50
+f 50 64 65
+f 50 65 51
+f 51 65 79
+f 51 79 66
+f 51 66 52
+f 52 67 68
+f 52 68 53
+f 52 66 69
+f 52 69 70
+f 52 70 71
+f 52 71 67
+f 53 68 54
+f 57 72 73
+f 57 73 64
+f 57 64 74
+f 57 74 75
+f 57 75 61
+f 57 61 60
+f 57 59 76
+f 57 76 72
+f 58 77 59
+f 59 77 83
+f 59 83 76
+f 64 73 82
+f 64 82 78
+f 64 78 79
+f 64 79 65
+f 66 79 78
+f 66 78 82
+f 66 82 80
+f 66 80 81
+f 66 81 69
+f 72 76 82
+f 72 82 73
+f 76 83 81
+f 76 81 80
+f 76 80 82
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_33.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9008e6242543174a81a08569b294479fcd91b7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.16239031 -0.10896360 0.15172834
+v 0.16239031 -0.03909904 0.18403607
+v 0.23680888 -0.10896357 0.14394945
+v 0.16239031 -0.10896471 0.45454034
+v 0.23680888 -0.03909902 0.17939383
+v 0.16239031 -0.03910006 0.46247634
+v 0.24975029 -0.03909902 0.18049166
+v 0.25007108 -0.10896358 0.14721157
+v 0.17736693 -0.10896472 0.45868070
+v 0.16239031 -0.10812346 0.45475991
+v 0.16239031 -0.05106904 0.46197438
+v 0.20639107 -0.10896474 0.46416986
+v 0.19117109 -0.03910006 0.46376238
+v 0.25647541 -0.03909903 0.18337738
+v 0.25197355 -0.10896358 0.14834075
+v 0.25731604 -0.03909904 0.18381651
+v 0.19117109 -0.10896474 0.46203694
+v 0.16239031 -0.09546370 0.45792798
+v 0.16239031 -0.10211162 0.45632825
+v 0.16239031 -0.05253268 0.46191167
+v 0.20639107 -0.06762729 0.46429548
+v 0.16239031 -0.06762727 0.46106472
+v 0.22090314 -0.10896473 0.46075090
+v 0.20470979 -0.03910007 0.46429559
+v 0.25612146 -0.10896360 0.15144604
+v 0.26439508 -0.03909906 0.19131310
+v 0.25830046 -0.10896360 0.15313984
+v 0.16239031 -0.08272187 0.45984141
+v 0.20639107 -0.03910007 0.46435831
+v 0.22854631 -0.05253266 0.45607751
+v 0.22091420 -0.09782331 0.46075094
+v 0.22851313 -0.10896472 0.45601456
+v 0.27088792 -0.03909911 0.20357738
+v 0.26525786 -0.10896364 0.16314573
+v 0.26380885 -0.10896363 0.16057368
+v 0.22095844 -0.03910005 0.46065704
+v 0.22855737 -0.03910004 0.45607756
+v 0.23408789 -0.03910001 0.44848687
+v 0.23393304 -0.10896469 0.44839251
+v 0.27186129 -0.03909912 0.20564759
+v 0.27073307 -0.10896369 0.17600600
+v 0.24058070 -0.03909995 0.43380734
+v 0.24012721 -0.10896463 0.43380708
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_34.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e06f52070c9e7cf8290a420c28a622e64ce6ba9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_34.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_35.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59af120049a0b07f7566546b1268b7ab640a1b6
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_35.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_36.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e381ad10cffbdf5f7220a21f28b82cc63d341bbc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_36.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.13405175 -0.10896355 0.13956012
+v 0.09118879 -0.10896337 0.08864029
+v 0.09292706 -0.08682625 0.08864037
+v 0.11412536 -0.08682643 0.13956020
+v -0.29042303 -0.10896355 0.13956012
+v -0.29042303 -0.10896337 0.08864029
+v -0.29907192 -0.08682625 0.08864037
+v -0.29835119 -0.08682643 0.13956020
+v -0.29894474 -0.08682628 0.09923704
+v -0.29046541 -0.10896344 0.11018253
+v -0.29046541 -0.10896339 0.09496041
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 7
+f 5 7 10
+f 6 11 7
+f 7 11 10
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_37.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c309a23baba97b03549244b07764cb77d75d61
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_37.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.29573235 0.08339088 -0.08373782
+v -0.29569146 0.08339082 -0.06851881
+v -0.29569146 0.08339093 -0.09903191
+v -0.29573235 0.08336097 -0.09893293
+v -0.30661564 0.06604984 -0.08371058
+v -0.30661564 0.06604378 -0.06849157
+v -0.30661564 0.06602580 -0.06416376
+v -0.29565055 0.08339081 -0.06417393
+v -0.30657472 0.06601393 -0.09903198
+v 0.10829878 0.08339093 -0.09903191
+v -0.30968421 0.05316082 -0.06416380
+v -0.29565055 0.08336085 -0.06416369
+v -0.27457954 0.08339081 -0.06416369
+v -0.30947965 0.05324483 -0.09903202
+v -0.30960241 0.05316089 -0.08371062
+v 0.07593539 0.08339081 -0.06416369
+v 0.07998593 0.06956711 -0.06416374
+v 0.08980541 0.03467529 -0.06416387
+v 0.09246486 0.02297277 -0.06416392
+v 0.09246486 0.02217583 -0.06416392
+v 0.07859482 0.02217595 -0.09903214
+v -0.30628833 0.04191378 -0.08371067
+v -0.30632925 0.04188975 -0.06849166
+v -0.30632925 0.04188974 -0.06416385
+v -0.30947965 0.05316094 -0.09903202
+v -0.30620649 0.04194978 -0.09903207
+v -0.29315474 0.02217583 -0.06416392
+v -0.29323657 0.02217595 -0.09903214
+v -0.29323657 0.02217595 -0.09813450
+f 1 2 8
+f 1 8 13
+f 1 13 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 3 10 21
+f 3 21 28
+f 3 28 26
+f 3 26 25
+f 3 25 14
+f 3 14 9
+f 4 9 5
+f 5 9 11
+f 5 11 6
+f 6 11 7
+f 7 11 24
+f 7 24 27
+f 7 27 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 13
+f 7 13 12
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 11
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 11 15 22
+f 11 22 23
+f 11 23 24
+f 14 25 15
+f 15 25 26
+f 15 26 22
+f 20 27 29
+f 20 29 28
+f 20 28 21
+f 22 26 28
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 24 29 27
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_38.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b69756bec80a5c278df6bb0b146507b8d55c4482
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_38.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.21594384 -0.12930939 -0.05317465
+v -0.21594384 -0.31630498 -0.05317534
+v -0.21594384 -0.12930983 0.06543921
+v 0.10426723 -0.12930939 -0.05317465
+v -0.21594384 -0.31621157 0.02651980
+v -0.12833690 -0.32076528 -0.05317536
+v -0.12833690 -0.32074671 -0.00760376
+v -0.21594384 -0.31604305 0.06543852
+v 0.09057422 -0.12930983 0.06543921
+v 0.14552315 -0.15397228 -0.05317475
+v -0.21594384 -0.31619287 0.03804912
+v -0.12833690 -0.32069067 0.03804910
+v -0.08269356 -0.32067157 -0.05317536
+v -0.08269356 -0.32055956 0.06543850
+v -0.21594384 -0.31609923 0.05696279
+v -0.12833690 -0.32063453 0.06543850
+v 0.14552315 -0.16754104 0.06543906
+v 0.14552315 -0.15567768 -0.05317475
+v -0.21594384 -0.31611796 0.05328223
+v 0.06952168 -0.31979076 -0.05317535
+v 0.06941553 -0.31980962 -0.02282525
+v 0.06941553 -0.31980973 0.00760613
+v 0.06941553 -0.31979120 0.06543851
+v 0.14552315 -0.29374150 0.06543860
+v 0.14548778 -0.31808533 -0.05317535
+v 0.14548778 -0.31814163 -0.03804674
+v 0.14548778 -0.31829177 0.02282762
+v 0.14548778 -0.31831057 0.03804911
+v 0.14548778 -0.31829193 0.06543851
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 16
+f 3 16 14
+f 3 14 23
+f 3 23 29
+f 3 29 24
+f 3 24 17
+f 3 17 9
+f 4 9 10
+f 5 7 12
+f 5 12 11
+f 6 13 7
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 9 17 10
+f 10 17 24
+f 10 24 18
+f 11 12 16
+f 11 16 19
+f 12 14 16
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 19 16
+f 18 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 22 28 23
+f 23 28 29
+f 24 29 28
+f 24 28 27
+f 24 27 26
+f 24 26 25
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_39.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef8ea48a4a74dc2a2327798b03a5cccdbbc177f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_39.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.17802040 0.17825508 0.02251829
+v 0.17802040 0.14266134 -0.08054608
+v 0.17802040 0.24820346 0.02251855
+v 0.09093858 0.14266096 0.02251816
+v 0.17802040 0.14266141 -0.09941633
+v 0.17802040 0.24820391 -0.09941594
+v -0.29351837 0.24820346 0.02251855
+v -0.29585875 0.14266096 0.02251816
+v -0.29361590 0.14266141 -0.09941633
+v -0.28006114 0.24820391 -0.09941594
+v -0.29376216 0.24820390 -0.09767333
+v -0.32009148 0.18354512 0.02251831
+v -0.31809240 0.16793330 0.02251826
+v -0.30731687 0.16206510 -0.09941625
+v -0.28995903 0.23482382 -0.09941599
+v -0.29376216 0.24820391 -0.09936819
+v -0.31970140 0.18312156 0.00761070
+v -0.32009148 0.17547573 0.02251828
+v -0.31770232 0.16933851 0.00761065
+v -0.31331413 0.17395737 -0.09941621
+v -0.30985229 0.18906292 -0.09941616
+v -0.31857998 0.18161315 -0.01685736
+v -0.31970140 0.17689129 0.00761068
+v -0.31857998 0.18119986 -0.01685736
+v -0.31321662 0.17444297 -0.09941621
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 16
+f 3 16 11
+f 3 11 7
+f 5 9 14
+f 5 14 20
+f 5 20 25
+f 5 25 21
+f 5 21 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 11 16 12
+f 12 17 23
+f 12 23 18
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 18 23 19
+f 19 23 20
+f 20 23 24
+f 20 24 22
+f 20 22 25
+f 21 25 22
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_4.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9637c1c8b2d25017a6802bd524424c9c80c09b3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.25182444 0.02217612 -0.14531047
+v 0.25202712 0.02217612 -0.14534500
+v 0.25182444 0.14265098 -0.07115888
+v 0.25182444 0.02217650 -0.24749270
+v 0.26182468 0.02217614 -0.15022973
+v 0.25795410 0.14265100 -0.07628526
+v 0.25182444 0.14265147 -0.20340892
+v 0.25182444 0.02297841 -0.24747545
+v 0.27206961 0.02217635 -0.20620556
+v 0.26219049 0.02217614 -0.15067850
+v 0.26433586 0.14265103 -0.08436317
+v 0.27150854 0.14265130 -0.15866967
+v 0.26852033 0.12865331 -0.17503269
+v 0.25182444 0.12865345 -0.21250526
+v 0.25182444 0.03807318 -0.24645702
+v 0.27205723 0.02297826 -0.20620556
+v 0.27510970 0.02297823 -0.19859367
+v 0.27511217 0.02217632 -0.19859367
+v 0.26911600 0.02217618 -0.15980931
+v 0.26466954 0.14265103 -0.08486373
+v 0.27436820 0.14265127 -0.15043641
+v 0.27501331 0.13696715 -0.15278386
+v 0.27351796 0.12865327 -0.16303663
+v 0.27279625 0.11385336 -0.17458397
+v 0.25182444 0.09845218 -0.22753928
+v 0.27094500 0.09706049 -0.18878942
+v 0.25182444 0.05316793 -0.24290129
+v 0.27040619 0.05316779 -0.20548049
+v 0.27218330 0.03814378 -0.20420328
+v 0.27500835 0.03315541 -0.19828295
+v 0.27589815 0.03814373 -0.19134420
+v 0.27616757 0.02297820 -0.19025685
+v 0.27611318 0.02217629 -0.19070563
+v 0.26945213 0.02217618 -0.16036165
+v 0.27207453 0.14265109 -0.10060531
+v 0.27453380 0.02217621 -0.16895738
+v 0.27580176 0.14265125 -0.14406728
+v 0.27562876 0.12865324 -0.15544201
+v 0.27487736 0.09109331 -0.18273101
+v 0.27451898 0.11908933 -0.16609177
+v 0.27393816 0.10115255 -0.17936518
+v 0.25182444 0.08334564 -0.23297637
+v 0.27251943 0.08335728 -0.19179280
+v 0.26833743 0.06827435 -0.20548044
+v 0.27364896 0.06827431 -0.19407125
+v 0.27434350 0.05316776 -0.19588365
+v 0.27469448 0.04322644 -0.19714372
+v 0.27591050 0.06827428 -0.18645937
+v 0.27610331 0.05316773 -0.18827177
+v 0.27700793 0.06827424 -0.17503291
+v 0.27616757 0.02217629 -0.19025685
+v 0.27266278 0.14265110 -0.10217602
+v 0.27590062 0.02217624 -0.17656927
+v 0.27593275 0.14265114 -0.11493154
+v 0.27452640 0.14265112 -0.10763034
+v 0.27581411 0.14265125 -0.14398098
+v 0.27690906 0.12865320 -0.14460241
+v 0.27620465 0.11385331 -0.16053392
+v 0.27576223 0.09706044 -0.17458403
+v 0.27533463 0.08335726 -0.18418092
+v 0.27675086 0.08335722 -0.17503285
+v 0.27701780 0.09845193 -0.15980903
+v 0.27707219 0.14265120 -0.13050052
+v 0.27670390 0.05316768 -0.17503296
+v 0.27591545 0.02217624 -0.17722517
+v 0.27702276 0.14265120 -0.12936132
+v 0.27603162 0.14265114 -0.11558743
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 42
+f 1 42 27
+f 1 27 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 33
+f 1 33 51
+f 1 51 65
+f 1 65 53
+f 1 53 36
+f 1 36 34
+f 1 34 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 11
+f 3 11 20
+f 3 20 35
+f 3 35 52
+f 3 52 55
+f 3 55 54
+f 3 54 67
+f 3 67 66
+f 3 66 63
+f 3 63 56
+f 3 56 37
+f 3 37 21
+f 3 21 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 14
+f 14 24 26
+f 14 26 25
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 19 34 20
+f 20 34 36
+f 20 36 35
+f 21 37 22
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 22 37 38
+f 23 40 41
+f 23 41 24
+f 24 41 26
+f 25 26 43
+f 25 43 42
+f 26 41 39
+f 26 39 43
+f 27 42 44
+f 27 44 28
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 33
+f 35 36 52
+f 36 53 54
+f 36 54 55
+f 36 55 52
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 39 60 45
+f 39 45 43
+f 39 41 40
+f 42 43 44
+f 43 45 44
+f 45 60 48
+f 45 48 46
+f 46 48 47
+f 48 60 61
+f 48 61 49
+f 49 61 50
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 51 64 65
+f 53 65 64
+f 53 64 66
+f 53 66 67
+f 53 67 54
+f 56 63 57
+f 57 63 62
+f 57 62 61
+f 57 61 58
+f 58 61 59
+f 59 61 60
+f 63 66 64
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_40.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76692ca7d170723c45f7efaf47162f5653354fe
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_40.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.13091960 0.07858605 0.15980401
+v 0.23680080 0.07858605 0.16154087
+v 0.13094798 0.02217494 0.17804077
+v 0.13091960 0.02222463 0.17802654
+v 0.13091960 0.07858552 0.30522989
+v 0.24162456 0.07858604 0.16203915
+v 0.24674625 0.02217492 0.18189886
+v 0.13091960 0.02217494 0.17821161
+v 0.13091960 0.02217447 0.30522968
+v 0.25538642 0.07858552 0.30522989
+v 0.25027893 0.07858604 0.16435970
+v 0.25429399 0.02217491 0.18491700
+v 0.25725916 0.02217447 0.30522968
+v 0.25677680 0.03806631 0.30522974
+v 0.27442604 0.06825994 0.24061035
+v 0.27409971 0.07858576 0.23968503
+v 0.25757129 0.07858602 0.16864489
+v 0.25494661 0.02217491 0.18534409
+v 0.25725916 0.02261622 0.30522968
+v 0.27256747 0.02217467 0.25115945
+v 0.25698960 0.03129654 0.30522971
+v 0.27229789 0.03806651 0.25115951
+v 0.27470977 0.03806654 0.24179189
+v 0.27547591 0.06825996 0.23299382
+v 0.27543334 0.07858579 0.23208274
+v 0.27509283 0.07858578 0.23448869
+v 0.25799692 0.07858602 0.16907198
+v 0.25778412 0.07839828 0.16885844
+v 0.26385635 0.02217488 0.19256199
+v 0.27256747 0.02296981 0.25115945
+v 0.27476652 0.02217470 0.24210503
+v 0.27476652 0.02296984 0.24217621
+v 0.27583060 0.07858583 0.22030915
+v 0.27512120 0.02217473 0.23490136
+v 0.27513541 0.02217473 0.23450274
+v 0.26318954 0.07858599 0.17579161
+v 0.27096429 0.02217484 0.20550298
+v 0.27513541 0.02217476 0.22540561
+v 0.27529146 0.07858587 0.21004463
+v 0.27016980 0.07858594 0.19028437
+v 0.27408553 0.07858589 0.20284097
+v 0.27434089 0.02217479 0.21778907
+v 0.27438346 0.02217479 0.21818769
+v 0.27456789 0.07858589 0.20536082
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 26
+f 1 26 25
+f 1 25 33
+f 1 33 39
+f 1 39 44
+f 1 44 41
+f 1 41 40
+f 1 40 36
+f 1 36 27
+f 1 27 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 12
+f 3 12 18
+f 3 18 29
+f 3 29 37
+f 3 37 42
+f 3 42 43
+f 3 43 38
+f 3 38 35
+f 3 35 34
+f 3 34 31
+f 3 31 20
+f 3 20 13
+f 3 13 9
+f 3 9 8
+f 5 9 13
+f 5 13 19
+f 5 19 21
+f 5 21 14
+f 5 14 10
+f 6 11 7
+f 7 11 12
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 13 20 30
+f 13 30 19
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 15 21 19
+f 15 19 22
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 19 30 22
+f 20 31 32
+f 20 32 30
+f 22 30 23
+f 23 32 24
+f 23 30 32
+f 24 33 25
+f 24 32 31
+f 24 31 34
+f 24 34 35
+f 24 35 33
+f 27 36 29
+f 27 29 28
+f 29 36 37
+f 33 38 39
+f 33 35 38
+f 36 40 37
+f 37 41 42
+f 37 40 41
+f 38 43 39
+f 39 43 42
+f 39 42 44
+f 41 44 42
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_41.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5953dd9d9bfeb8c32b9af73e3a84a17c122fa232
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_41.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.33438972 0.21924255 0.02251845
+v 0.33070088 0.20414738 0.00761078
+v 0.33068559 0.20414744 -0.00760716
+v 0.33437440 0.21924260 0.00761084
+v 0.33076212 0.23434809 0.02251850
+v 0.33067027 0.20414733 0.02251839
+v 0.33053253 0.20389936 0.02251839
+v 0.32408856 0.19241007 0.02251835
+v 0.33065496 0.20414749 -0.02282510
+v 0.33434380 0.21924266 -0.00760710
+v 0.33429787 0.21924271 -0.02282504
+v 0.33065496 0.23434814 0.00761089
+v 0.32346100 0.24314071 0.02251853
+v 0.32404263 0.19329890 -0.05326102
+v 0.32408856 0.19259610 0.00761074
+v 0.33060903 0.20414755 -0.03805498
+v 0.31580783 0.18486762 0.02251832
+v 0.27145013 0.14266141 -0.09941633
+v 0.33409889 0.21924277 -0.03805492
+v 0.33039476 0.23434825 -0.02282499
+v 0.33053253 0.23434820 -0.00760705
+v 0.32307835 0.24304795 -0.03805484
+v 0.32317017 0.24307888 -0.02282496
+v 0.32336915 0.24312011 0.00761092
+v 0.31286903 0.24471136 -0.02282495
+v 0.31286903 0.24474230 -0.00760701
+v 0.31286903 0.24474224 0.00761093
+v 0.31309862 0.24468021 0.02251854
+v 0.32347632 0.19377424 -0.06847896
+v 0.33039476 0.20414761 -0.05326098
+v 0.30820059 0.18003220 0.02251830
+v 0.27204708 0.14388060 -0.09941632
+v 0.32211404 0.19504512 -0.07777681
+v 0.26466943 0.14266135 -0.08485485
+v 0.17803568 0.14266141 -0.09941633
+v 0.33368563 0.21924283 -0.05326092
+v 0.33016517 0.23434831 -0.03805487
+v 0.32277223 0.24302735 -0.05326084
+v 0.31286903 0.24460810 -0.03805483
+v 0.26558782 0.24820374 -0.05326082
+v 0.26609292 0.24820368 -0.03805482
+v 0.26696538 0.24820351 0.00761094
+v 0.26705723 0.24820346 0.02251855
+v 0.31286903 0.24471120 0.02251854
+v 0.32871107 0.20414766 -0.06847892
+v 0.24458755 0.16636283 0.02251825
+v 0.25132233 0.14266130 -0.07073499
+v 0.25250091 0.14266130 -0.07171371
+v 0.25794997 0.14266132 -0.07627312
+v 0.26433270 0.14266135 -0.08435355
+v 0.27207769 0.14398392 -0.09941632
+v 0.32384365 0.20414770 -0.07908970
+v 0.17803568 0.14266134 -0.08054608
+v 0.17803568 0.24820391 -0.09941594
+v 0.33099171 0.21924288 -0.06847886
+v 0.32962946 0.23434837 -0.05326087
+v 0.32185384 0.24264508 -0.06382388
+v 0.31286903 0.24445318 -0.05326083
+v 0.26398066 0.24820379 -0.06847876
+v 0.17803568 0.24820346 0.02251855
+v 0.24383754 0.16636283 0.02251825
+v 0.23681193 0.14266128 -0.06631880
+v 0.23829666 0.14266128 -0.06661720
+v 0.25029680 0.14266130 -0.07025756
+v 0.27215422 0.14425256 -0.09941632
+v 0.32451713 0.21924292 -0.07922093
+v 0.27590427 0.15871751 -0.09941627
+v 0.27593488 0.15887249 -0.09941627
+v 0.27754203 0.17348209 -0.09941621
+v 0.27858287 0.18802970 -0.09941616
+v 0.17803568 0.17825508 0.02251829
+v 0.22242400 0.14266130 -0.06945787
+v 0.24366916 0.16637315 0.02251825
+v 0.23623030 0.16699308 0.02251825
+v 0.25271521 0.24820391 -0.09941594
+v 0.32303242 0.23063924 -0.07794379
+v 0.32551205 0.23514399 -0.06872946
+v 0.31614459 0.24071304 -0.07396919
+v 0.31286903 0.21924294 -0.08389971
+v 0.27856756 0.18808137 -0.09941616
+v 0.27342465 0.20414778 -0.09941610
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 28
+f 1 28 44
+f 1 44 43
+f 1 43 60
+f 1 60 71
+f 1 71 74
+f 1 74 73
+f 1 73 61
+f 1 61 46
+f 1 46 31
+f 1 31 17
+f 1 17 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 4
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 8 17 18
+f 8 18 14
+f 9 16 10
+f 10 16 11
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 11 16 19
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 14 29 30
+f 14 30 16
+f 14 16 15
+f 14 18 29
+f 16 30 19
+f 17 31 18
+f 18 32 33
+f 18 33 29
+f 18 31 34
+f 18 34 50
+f 18 50 49
+f 18 49 48
+f 18 48 47
+f 18 47 64
+f 18 64 63
+f 18 63 62
+f 18 62 72
+f 18 72 53
+f 18 53 35
+f 18 35 54
+f 18 54 75
+f 18 75 81
+f 18 81 80
+f 18 80 70
+f 18 70 69
+f 18 69 68
+f 18 68 67
+f 18 67 65
+f 18 65 51
+f 18 51 32
+f 19 30 36
+f 19 36 37
+f 19 37 20
+f 20 37 22
+f 20 22 21
+f 22 38 25
+f 22 25 23
+f 22 37 38
+f 23 25 24
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 26 42 43
+f 26 43 27
+f 26 41 42
+f 27 44 28
+f 27 43 44
+f 29 33 45
+f 29 45 30
+f 30 45 36
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 34
+f 32 51 52
+f 32 52 33
+f 33 52 45
+f 35 53 71
+f 35 71 60
+f 35 60 54
+f 36 45 55
+f 36 55 56
+f 36 56 37
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 58 59
+f 39 59 40
+f 40 59 75
+f 40 75 54
+f 40 54 60
+f 40 60 43
+f 40 43 42
+f 40 42 41
+f 45 52 55
+f 46 61 62
+f 46 62 63
+f 46 63 64
+f 46 64 47
+f 51 65 52
+f 52 66 55
+f 52 65 67
+f 52 67 68
+f 52 68 69
+f 52 69 70
+f 52 70 66
+f 53 72 73
+f 53 73 74
+f 53 74 71
+f 55 66 76
+f 55 76 77
+f 55 77 56
+f 56 77 57
+f 57 77 76
+f 57 76 78
+f 57 78 75
+f 57 75 58
+f 58 75 59
+f 61 73 72
+f 61 72 62
+f 66 79 76
+f 66 70 79
+f 70 80 79
+f 75 78 76
+f 75 76 79
+f 75 79 81
+f 79 80 81
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_42.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18864efa9d777cd0e78f12fe02e9750a30e9231c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.13090543 0.07858552 0.30524548
+v 0.25538212 0.07858552 0.30524548
+v 0.13090543 0.02217447 0.30524527
+v 0.13090543 0.07858493 0.46431067
+v 0.25677944 0.03806631 0.30524533
+v 0.25528129 0.07858551 0.30724334
+v 0.27516068 0.03082138 0.38149232
+v 0.27516068 0.03082139 0.37907300
+v 0.27760959 0.02372033 0.37357884
+v 0.27807056 0.02217422 0.37351639
+v 0.27782568 0.02217422 0.37203359
+v 0.27729266 0.02217423 0.36900556
+v 0.27505983 0.02217426 0.36163841
+v 0.25726922 0.02217447 0.30524527
+v 0.13090543 0.02217389 0.46303052
+v 0.13090543 0.06825911 0.46427938
+v 0.19117744 0.06825911 0.46459153
+v 0.20637510 0.06825911 0.46466959
+v 0.20637510 0.07858493 0.46468525
+v 0.25699553 0.03129654 0.30524530
+v 0.25503639 0.07858549 0.31206635
+v 0.24574494 0.07858517 0.39914559
+v 0.24516872 0.07858516 0.40403101
+v 0.24486622 0.07858515 0.40655958
+v 0.24381463 0.07858512 0.41500372
+v 0.24345448 0.07858511 0.41768837
+v 0.24156737 0.07858506 0.42900444
+v 0.24076069 0.07858505 0.43382745
+v 0.27710541 0.02290857 0.38718934
+v 0.25415766 0.07858546 0.32246153
+v 0.25372550 0.07858544 0.32728454
+v 0.27735029 0.02217417 0.38650258
+v 0.25725483 0.02296961 0.30524527
+v 0.14473456 0.02217389 0.46384219
+v 0.13090543 0.02220702 0.46370168
+v 0.20637510 0.02217388 0.46451335
+v 0.20637510 0.05316241 0.46462272
+v 0.13090543 0.05316241 0.46421689
+v 0.22069402 0.02217390 0.46067370
+v 0.22069402 0.02296904 0.46067370
+v 0.22047794 0.07858495 0.46068948
+v 0.23420624 0.07858499 0.44806230
+v 0.27696135 0.02217416 0.38875018
+v 0.27729266 0.02217417 0.38723619
+v 0.16073893 0.02217389 0.46406070
+v 0.13090543 0.02296903 0.46371731
+v 0.13090543 0.03806573 0.46401394
+v 0.22109738 0.02217390 0.46042394
+v 0.22830005 0.02296906 0.45585067
+v 0.22808397 0.07858497 0.45567921
+v 0.23227593 0.07858499 0.45046599
+v 0.23416303 0.02217394 0.44824939
+v 0.22830005 0.02217392 0.45585067
+f 1 2 5
+f 1 5 20
+f 1 20 33
+f 1 33 14
+f 1 14 3
+f 1 3 15
+f 1 15 35
+f 1 35 46
+f 1 46 47
+f 1 47 38
+f 1 38 16
+f 1 16 4
+f 1 4 19
+f 1 19 41
+f 1 41 50
+f 1 50 51
+f 1 51 42
+f 1 42 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 31
+f 1 31 30
+f 1 30 21
+f 1 21 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 5
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 32
+f 3 32 44
+f 3 44 43
+f 3 43 52
+f 3 52 53
+f 3 53 48
+f 3 48 39
+f 3 39 36
+f 3 36 45
+f 3 45 34
+f 3 34 15
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 5 13 20
+f 6 21 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 10
+f 7 10 9
+f 7 9 8
+f 7 21 30
+f 7 30 31
+f 7 31 22
+f 10 29 32
+f 13 14 33
+f 13 33 20
+f 15 34 35
+f 16 36 37
+f 16 37 17
+f 16 38 36
+f 17 37 18
+f 18 37 39
+f 18 39 19
+f 19 40 41
+f 19 39 40
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 32
+f 34 45 35
+f 35 45 46
+f 36 38 47
+f 36 47 45
+f 36 39 37
+f 39 48 40
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 42 51 49
+f 42 49 52
+f 42 52 43
+f 45 47 46
+f 48 53 49
+f 49 51 50
+f 49 53 52
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_43.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de14a28b65201bdf9223d62161b04457cc910cb
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_43.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.09650490 0.14265051 0.05783034
+v 0.09650490 0.10975352 0.10516988
+v 0.09650490 0.14265033 0.10738707
+v 0.14120901 0.14265033 0.10738707
+v 0.09822024 0.10975352 0.10738695
+v 0.09650490 0.10975352 0.10738695
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 6 5
+f 3 5 4
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_44.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d10bc676f773197b2a8aa0a8180686b79c0218b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_44.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.21205933 -0.10896564 0.06547832
+v 0.09137455 -0.10896564 0.06547832
+v -0.21205933 -0.13311892 0.06547823
+v -0.21205933 -0.10896698 0.43052106
+v 0.09333665 -0.13311892 0.06547823
+v 0.15913940 -0.10896595 0.15052735
+v 0.15913940 -0.13311916 0.12947011
+v -0.21205933 -0.13312026 0.43032562
+v -0.21205933 -0.12051279 0.43044288
+v -0.14353147 -0.12802016 0.46103233
+v -0.14353147 -0.10896709 0.46111057
+v 0.15913940 -0.10896707 0.45423478
+v 0.15913940 -0.13312033 0.45028889
+v -0.14353147 -0.13312037 0.46099328
+v -0.13346665 -0.13312038 0.46329822
+v -0.12830709 -0.13312039 0.46447026
+v -0.12830709 -0.10896711 0.46454847
+v 0.08465257 -0.10896709 0.46068084
+v 0.08465257 -0.12802016 0.46095421
+v 0.08465257 -0.13312037 0.46099328
+v -0.11311903 -0.13312039 0.46447026
+v -0.10912218 -0.10896711 0.46450944
+v 0.06942819 -0.10896710 0.46169659
+v 0.06942819 -0.11292289 0.46173561
+v 0.07949299 -0.13312037 0.46130580
+v -0.09789465 -0.13312039 0.46443117
+v -0.09789465 -0.10896711 0.46447035
+v 0.05820066 -0.10896710 0.46197003
+v 0.06430495 -0.13312038 0.46204812
+v 0.06942819 -0.12802017 0.46185276
+v 0.06942819 -0.13312038 0.46189183
+v -0.06744589 -0.13312039 0.46427494
+v -0.08267027 -0.11292290 0.46439217
+v -0.08267027 -0.10896711 0.46439218
+v 0.05420380 -0.12802017 0.46224346
+v -0.00665738 -0.10896710 0.46325922
+v 0.05420380 -0.13312038 0.46228252
+v -0.05738109 -0.13312038 0.46415768
+v -0.06348538 -0.10896711 0.46423594
+v -0.06744589 -0.10896711 0.46427503
+v -0.03703347 -0.10896710 0.46380621
+v -0.05225785 -0.10896710 0.46407965
+v -0.05225785 -0.13312038 0.46407956
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 22
+f 1 22 27
+f 1 27 34
+f 1 34 40
+f 1 40 39
+f 1 39 42
+f 1 42 41
+f 1 41 36
+f 1 36 28
+f 1 28 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 13
+f 3 13 20
+f 3 20 25
+f 3 25 31
+f 3 31 29
+f 3 29 37
+f 3 37 43
+f 3 43 38
+f 3 38 32
+f 3 32 26
+f 3 26 21
+f 3 21 16
+f 3 16 15
+f 3 15 14
+f 3 14 8
+f 4 9 10
+f 4 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 28 35 29
+f 28 36 35
+f 29 31 30
+f 29 35 37
+f 32 38 39
+f 32 39 40
+f 32 40 34
+f 32 34 33
+f 35 36 37
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 38 43 42
+f 38 42 39
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_45.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1a2c61abb777deee8ef7e6228411556006a34e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_45.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.09138585 -0.10896526 0.06543928
+v 0.09057081 -0.12930983 0.06543921
+v 0.09147988 -0.10896526 0.06495163
+v -0.21594382 -0.10896526 0.06543928
+v 0.10430096 -0.12930939 -0.05317465
+v 0.09524157 -0.10896517 0.03995402
+v 0.09364286 -0.10896522 0.05328299
+v -0.21594382 -0.12930983 0.06543921
+v -0.21594382 -0.10896482 -0.05317458
+v 0.08458346 -0.10896482 -0.05317458
+v 0.09361150 -0.10896505 0.00760690
+v 0.09405037 -0.10896506 0.01104363
+v 0.09546099 -0.10896510 0.02282839
+v 0.09546099 -0.10896516 0.03804988
+v -0.21594382 -0.12930939 -0.05317465
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 15
+f 2 15 5
+f 4 9 15
+f 4 15 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 15 9
+f 5 9 10
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_46.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef29d1f9199478403f43d27ca675ff6c6cb2f18
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_46.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.10828730 0.08339093 -0.09903192
+v 0.07860726 0.02217595 -0.09903215
+v 0.13968219 0.08339100 -0.11630785
+v -0.29571309 0.08339093 -0.09903192
+v 0.13968219 0.02217610 -0.13749989
+v -0.29325075 0.02217595 -0.09903215
+v 0.13968219 0.08339180 -0.33435315
+v -0.29698823 0.08339180 -0.33435315
+v -0.30657377 0.06601393 -0.09903199
+v 0.13968219 0.02217682 -0.33435338
+v -0.30622203 0.04194978 -0.09903208
+v -0.29413015 0.02217682 -0.33435338
+v -0.30011013 0.07818469 -0.33435317
+v -0.30644188 0.06631440 -0.33435322
+v -0.30951981 0.05316094 -0.09903203
+v -0.30600218 0.04214239 -0.33435331
+v -0.30916804 0.05316181 -0.33435326
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 12
+f 7 10 12
+f 7 12 16
+f 7 16 17
+f 7 17 14
+f 7 14 13
+f 7 13 8
+f 8 13 9
+f 9 14 15
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_47.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0a636a248990f83bb8ced7d93a7bc2d43b1fa6
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_47.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.21594384 -0.22233470 -0.32108820
+v -0.21594384 -0.10896187 -0.32108778
+v -0.29009092 -0.22233470 -0.32108820
+v -0.21594384 -0.22233430 -0.43107979
+v -0.29015638 -0.10896187 -0.32108778
+v -0.21594384 -0.10896142 -0.44346705
+v -0.30493905 -0.19751809 -0.32108811
+v -0.30695871 -0.22233455 -0.36149792
+v -0.21597188 -0.22233430 -0.43118760
+v -0.21594384 -0.22225661 -0.43116365
+v -0.30731401 -0.17331192 -0.32108802
+v -0.30711764 -0.10896172 -0.36112610
+v -0.21594384 -0.14677456 -0.44346719
+v -0.21962781 -0.10896142 -0.44346705
+v -0.30809006 -0.18840610 -0.32108807
+v -0.31091384 -0.22233451 -0.37293915
+v -0.21962781 -0.22233429 -0.43173870
+v -0.21594384 -0.18559770 -0.44133484
+v -0.31114759 -0.10896168 -0.37293873
+v -0.21594384 -0.16187984 -0.44332347
+v -0.21962781 -0.14312311 -0.44338331
+v -0.22243286 -0.10896142 -0.44317953
+v -0.31122238 -0.22233447 -0.38438037
+v -0.23458813 -0.22233429 -0.43278099
+v -0.21594384 -0.18150229 -0.44224533
+v -0.25006273 -0.22233429 -0.43320032
+v -0.31143744 -0.12802913 -0.38814185
+v -0.31141875 -0.14312331 -0.38814191
+v -0.31131588 -0.21860531 -0.38814218
+v -0.31145616 -0.10896162 -0.38814178
+v -0.31145616 -0.11292384 -0.38814179
+v -0.21594384 -0.17267883 -0.44282034
+v -0.21962781 -0.15821729 -0.44313178
+v -0.22893125 -0.14312312 -0.44229312
+v -0.22995979 -0.10896143 -0.44238883
+v -0.31130655 -0.22233445 -0.38814220
+v -0.21972131 -0.17246796 -0.44244897
+v -0.21594384 -0.17676315 -0.44258075
+v -0.26044143 -0.22233429 -0.43238566
+v -0.27686040 -0.22233430 -0.43014534
+v -0.30921208 -0.22233440 -0.40336924
+v -0.31086707 -0.10896161 -0.39213124
+v -0.30921208 -0.20351108 -0.40336917
+v -0.22822063 -0.15821730 -0.44200563
+v -0.28898762 -0.10896148 -0.42661069
+v -0.22754742 -0.16687425 -0.44162228
+v -0.28686510 -0.22233431 -0.42744975
+v -0.30515412 -0.22233436 -0.41369632
+v -0.30917470 -0.10896157 -0.40336882
+v -0.28907177 -0.14312317 -0.42664678
+v -0.29659867 -0.10896150 -0.42112369
+v -0.28896890 -0.22233431 -0.42658716
+v -0.28909982 -0.17331153 -0.42664689
+v -0.28909046 -0.15821735 -0.42664683
+v -0.30515412 -0.21860522 -0.41368429
+v -0.30504192 -0.10896153 -0.41351617
+v -0.29671087 -0.17331155 -0.42120781
+v -0.29657062 -0.22233433 -0.42130383
+v -0.29881467 -0.10896151 -0.41913497
+v -0.29084831 -0.22233432 -0.42528129
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 36
+f 1 36 41
+f 1 41 48
+f 1 48 58
+f 1 58 60
+f 1 60 52
+f 1 52 47
+f 1 47 40
+f 1 40 39
+f 1 39 26
+f 1 26 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 38
+f 1 38 32
+f 1 32 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 22
+f 2 22 35
+f 2 35 45
+f 2 45 51
+f 2 51 59
+f 2 59 56
+f 2 56 49
+f 2 49 42
+f 2 42 30
+f 2 30 19
+f 2 19 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 5 12 11
+f 6 13 14
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 10
+f 11 12 19
+f 11 19 15
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 15 19 16
+f 16 19 23
+f 17 24 18
+f 18 24 26
+f 18 26 25
+f 19 27 28
+f 19 28 29
+f 19 29 23
+f 19 30 31
+f 19 31 27
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 23 29 36
+f 25 37 38
+f 25 26 39
+f 25 39 40
+f 25 40 37
+f 27 31 41
+f 27 41 28
+f 28 41 29
+f 29 41 36
+f 30 42 43
+f 30 43 41
+f 30 41 31
+f 32 38 37
+f 32 37 33
+f 33 37 44
+f 33 44 34
+f 34 44 40
+f 34 40 35
+f 35 40 45
+f 37 40 46
+f 37 46 44
+f 40 44 46
+f 40 47 45
+f 41 43 48
+f 42 49 43
+f 43 49 48
+f 45 47 50
+f 45 50 51
+f 47 52 53
+f 47 53 54
+f 47 54 50
+f 48 49 55
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 49 56 55
+f 50 54 57
+f 50 57 51
+f 51 57 59
+f 52 60 53
+f 53 60 58
+f 53 58 57
+f 53 57 54
+f 56 59 57
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_48.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84121cfc0d09b71f883138e4bbcd94abfa29c6d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_48.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.17567395 0.14266054 0.13590187
+v 0.17567395 0.14266059 0.12197308
+v 0.17567395 0.24820304 0.13590226
+v -0.29640869 0.14266054 0.13590187
+v 0.17562446 0.17803810 0.02251828
+v 0.17567395 0.17804843 0.02256268
+v 0.09094752 0.14266096 0.02251815
+v 0.17567395 0.24820346 0.02251854
+v -0.29408265 0.24820304 0.13590226
+v -0.31907496 0.15090556 0.13590190
+v -0.31917394 0.15083338 0.09894343
+v -0.29640869 0.14266056 0.12938697
+v 0.17567395 0.17888534 0.02251829
+v -0.29586430 0.14266096 0.02251815
+v -0.29353826 0.24820346 0.02251854
+v -0.29403319 0.24820312 0.11417112
+v -0.32991322 0.17395664 0.09894352
+v -0.32397446 0.18569377 0.13590203
+v -0.32224232 0.15546202 0.13590192
+v -0.32486529 0.15886143 0.09894346
+v -0.31882755 0.15107107 0.08372719
+v -0.29626020 0.14266090 0.03806735
+v -0.29635918 0.14266084 0.05329469
+v -0.31848111 0.15130873 0.07611354
+v -0.31808516 0.16793330 0.02251825
+v -0.32006477 0.18354512 0.02251830
+v -0.32931937 0.17395669 0.08372728
+v -0.32456837 0.15886129 0.13590193
+v -0.32738923 0.16750926 0.13590197
+v -0.32971527 0.17395658 0.11417085
+v -0.32951732 0.17395652 0.12938709
+v -0.32630051 0.18068269 0.13590201
+v -0.32427139 0.15886148 0.08372722
+v -0.31813467 0.16808829 0.02251825
+v -0.32006477 0.17547573 0.02251827
+v -0.32941835 0.17395650 0.13590199
+f 1 2 6
+f 1 6 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 32
+f 1 32 36
+f 1 36 29
+f 1 29 28
+f 1 28 19
+f 1 19 10
+f 1 10 4
+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 15
+f 3 15 16
+f 3 16 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 5 7 14
+f 5 14 25
+f 5 25 34
+f 5 34 35
+f 5 35 26
+f 5 26 15
+f 5 15 8
+f 5 8 13
+f 9 16 17
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 14
+f 11 14 22
+f 11 22 23
+f 11 23 12
+f 14 21 24
+f 14 24 25
+f 15 26 27
+f 15 27 17
+f 15 17 16
+f 17 27 33
+f 17 33 20
+f 17 20 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 19 28 20
+f 20 33 21
+f 21 33 24
+f 24 33 25
+f 25 33 27
+f 25 27 34
+f 26 35 27
+f 27 35 34
+f 29 36 31
+f 29 31 30
+f 31 36 32
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_49.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8c08428821a6f40fd7a64db55f3e72ad3a9d31
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_49.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.29503869 -0.04093443 0.13955728
+v -0.29499665 -0.04093441 0.13278057
+v -0.31000100 -0.05566558 0.10799129
+v -0.30991693 -0.05563415 0.11417160
+v -0.30962273 -0.05554436 0.12939062
+v -0.30941259 -0.05549048 0.13955723
+v 0.08574387 -0.04093443 0.13955728
+v -0.29482855 -0.04093432 0.10799134
+v -0.31521260 -0.06762491 0.10799124
+v -0.31264883 -0.06762502 0.13955718
+v 0.11415547 -0.08682643 0.13955711
+v 0.09978155 -0.04093432 0.10799134
+v -0.30848797 -0.07884744 0.10799120
+v -0.30655462 -0.07842075 0.13955714
+v -0.30865608 -0.07483116 0.13955716
+v 0.09448590 -0.08682632 0.10799117
+v -0.29835897 -0.08682643 0.13955711
+v -0.30310824 -0.08333106 0.10799118
+v -0.29873724 -0.08682632 0.10799117
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 15
+f 1 15 14
+f 1 14 17
+f 1 17 11
+f 1 11 7
+f 1 7 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 9 4
+f 3 8 12
+f 3 12 16
+f 3 16 19
+f 3 19 18
+f 3 18 13
+f 3 13 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 11 17 19
+f 11 19 16
+f 13 18 17
+f 13 17 14
+f 17 18 19
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_5.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ce3d73ae94b701136f8fb5be5770adf161f803
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.10587636 0.02699286 0.10739151
+v 0.10531722 0.02217520 0.10739149
+v 0.10708065 0.02793582 0.10611525
+v 0.09817754 0.10974174 0.10739181
+v 0.11060748 0.02217522 0.10119494
+v -0.29416116 0.02217520 0.10739149
+v 0.11112360 0.02292959 0.10020416
+v 0.12290838 0.04610931 0.07657676
+v 0.12295139 0.06114531 0.04749165
+v 0.12325247 0.06159968 0.03805410
+v 0.12316644 0.06147114 0.02739066
+v 0.09632810 0.10974205 0.02283998
+v -0.29037623 0.10974174 0.10739181
+v 0.11116661 0.02217522 0.10013699
+v -0.30715021 0.04034858 0.10739156
+v -0.29480629 0.02217522 0.09973396
+v 0.12290838 0.04424053 0.07657675
+v 0.12699434 0.02217545 0.03805395
+v 0.12669328 0.03806858 0.03805401
+v 0.12523093 0.05317306 0.03805407
+v 0.12497287 0.05427038 0.02252071
+v 0.12234924 0.06003959 0.01724779
+v 0.09151097 0.10974237 -0.06416360
+v -0.29072033 0.10974209 0.01147124
+v -0.30736527 0.06665711 0.10739165
+v 0.11791921 0.02217528 0.08371362
+v -0.31119316 0.05317281 0.10739161
+v -0.30719322 0.03990285 0.09894477
+v -0.29480629 0.02217523 0.09894470
+v -0.30727925 0.03996290 0.08371369
+v 0.11809125 0.02217529 0.08299152
+v 0.12118798 0.02217533 0.06970841
+v 0.12290838 0.02217536 0.06208447
+v 0.12458578 0.02217539 0.05326824
+v 0.12471481 0.02217540 0.05247898
+v 0.12802659 0.02217551 0.02283966
+v 0.12802659 0.02297274 0.02283966
+v 0.12776853 0.03806864 0.02283972
+v 0.12656425 0.03806869 0.00762543
+v 0.12424170 0.04958136 0.00762547
+v 0.12303742 0.04655535 -0.00100605
+v 0.12394062 0.03806873 -0.00350821
+v 0.12213420 0.02733620 -0.01380225
+v 0.12256431 0.02217564 -0.01482663
+v 0.11959660 0.02217567 -0.02122469
+v 0.11129564 0.02297296 -0.03768166
+v 0.10725268 0.02297299 -0.04528880
+v 0.10123126 0.02297302 -0.05326538
+v 0.10084417 0.02217579 -0.05376917
+v 0.09383351 0.02217582 -0.06265257
+v 0.09245718 0.02297306 -0.06416392
+v -0.29097841 0.10974237 -0.06416360
+v -0.29097841 0.10974236 -0.06140958
+v -0.30736527 0.06661428 0.09894486
+v -0.31127918 0.05317289 0.08371374
+v -0.31127918 0.05317284 0.09894482
+v -0.29467726 0.02217539 0.05326824
+v -0.30719322 0.04009155 0.06849940
+v 0.12742445 0.02217556 0.00762537
+v 0.12742445 0.02297279 0.00762537
+v 0.12449976 0.02217562 -0.00826064
+v 0.12437073 0.02217562 -0.00883159
+v 0.11129564 0.02217573 -0.03764807
+v 0.10746773 0.02217575 -0.04486898
+v 0.10690860 0.02217576 -0.04570862
+v 0.10123126 0.02217579 -0.05326538
+v 0.09245718 0.02217583 -0.06416392
+v -0.30663409 0.06602339 -0.06416376
+v -0.30732226 0.06650289 0.08371378
+v -0.30749431 0.06238871 -0.06416377
+v -0.30964482 0.05317344 -0.06416380
+v -0.30633303 0.04189223 -0.06416385
+v -0.29312892 0.02217583 -0.06416392
+v 0.12729542 0.02217556 0.00681931
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 25
+f 1 25 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 16
+f 2 16 29
+f 2 29 57
+f 2 57 73
+f 2 73 67
+f 2 67 50
+f 2 50 49
+f 2 49 66
+f 2 66 65
+f 2 65 64
+f 2 64 63
+f 2 63 45
+f 2 45 44
+f 2 44 62
+f 2 62 61
+f 2 61 74
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+f 2 59 36
+f 2 36 18
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+f 2 32 31
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+f 2 26 14
+f 2 14 5
+f 3 5 4
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+f 4 10 11
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+f 4 12 23
+f 4 23 52
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+f 4 24 13
+f 5 14 7
+f 6 15 16
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+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 14 17
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 24 25
+f 14 26 17
+f 15 27 28
+f 15 28 16
+f 16 28 30
+f 16 30 29
+f 17 26 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 36 37
+f 18 37 38
+f 18 38 19
+f 19 38 20
+f 20 38 21
+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 23
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 48
+f 23 48 49
+f 23 49 50
+f 23 50 51
+f 23 51 67
+f 23 67 73
+f 23 73 72
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_50.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66979038cea20a4ec22edc9f88c53acf0cdca86a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_50.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.14588126 -0.03909249 0.26309766
+v 0.14588126 -0.03909218 0.18005014
+v 0.14588126 0.02217462 0.26309788
+v -0.29412672 -0.03909249 0.26309766
+v 0.14588126 -0.03908018 0.17957848
+v 0.08554717 -0.03909203 0.13956040
+v 0.14588126 0.02217492 0.18370266
+v -0.29201500 0.02217462 0.26309788
+v -0.29210122 0.02217466 0.25195957
+v -0.29248906 0.02217506 0.14541396
+v -0.29438528 -0.03909222 0.19028141
+v 0.08455596 0.00786583 0.13956057
+v 0.08416810 0.01760523 0.13956060
+v 0.08382334 0.02217508 0.13956062
+v -0.29382503 -0.03909203 0.13956040
+v -0.29248906 0.02217506 0.14461579
+v -0.29425600 -0.03909216 0.17506752
+v -0.29244597 0.02217508 0.13956062
+f 1 2 5
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+f 1 7 3
+f 1 3 8
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+f 1 4 11
+f 1 11 17
+f 1 17 15
+f 1 15 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 18
+f 3 18 16
+f 3 16 10
+f 3 10 9
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+f 5 6 12
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+f 5 13 14
+f 5 14 7
+f 6 15 18
+f 6 18 14
+f 6 14 13
+f 6 13 12
+f 10 16 11
+f 11 16 17
+f 15 17 18
+f 16 18 17
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_51.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003548a9af1b6c217b780906a282e613e511c520
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_51.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.17592624 0.32134215 0.28141956
+v 0.17592624 0.32134209 0.29684260
+v 0.17614288 0.32134215 0.28141956
+v -0.12829808 0.32072990 0.28141956
+v -0.12829808 0.32081707 0.35772167
+v -0.12422499 0.32083453 0.36884819
+v 0.02790882 0.32109695 0.36884819
+v 0.17592624 0.32127188 0.36884819
+v 0.18004265 0.32125438 0.36884819
+v 0.19113529 0.32120190 0.36884819
+v 0.19135193 0.32123721 0.28141956
+v 0.05421051 0.32113192 0.36884819
+v 0.06941956 0.32114941 0.36884819
+v -0.14333380 0.31962784 0.28141955
+v -0.14355046 0.31976746 0.36884818
+v -0.13943403 0.32006485 0.36884819
+v -0.12829808 0.32081703 0.36884819
+v 0.20634433 0.32095699 0.36884819
+v 0.20634433 0.32097453 0.35772167
+v 0.20634433 0.32097464 0.32727786
+v 0.20634433 0.32095731 0.28141956
+v -0.14355046 0.31961035 0.28141955
+v -0.18766103 0.31471226 0.28141954
+v -0.18766103 0.31471194 0.36884817
+v 0.21046074 0.32055466 0.36884819
+v 0.22155337 0.31948765 0.34249547
+v 0.22155337 0.31948771 0.32727785
+v 0.20656097 0.32093982 0.28141956
+v -0.18766103 0.14264970 0.28141890
+v -0.18766103 0.14264938 0.36884753
+v 0.22155337 0.31943507 0.36884818
+v 0.22155337 0.31947010 0.35772166
+v 0.23017618 0.31777329 0.35772166
+v 0.23026283 0.31777334 0.34249547
+v 0.23030617 0.31777340 0.32727785
+v 0.22155337 0.31947026 0.31206023
+v 0.23026283 0.31777345 0.31206023
+v 0.22155337 0.31938288 0.29684259
+v 0.22155337 0.31927796 0.28141955
+v 0.25500461 0.14264970 0.28141890
+v 0.24915497 0.14264938 0.36884753
+v 0.22389324 0.31898025 0.36884818
+v 0.23004619 0.31775575 0.36884818
+v 0.23793235 0.31418729 0.32727783
+v 0.23788904 0.31416985 0.31206021
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+v 0.23788904 0.31388984 0.34249545
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+v 0.23762903 0.31385502 0.29684257
+v 0.23736905 0.31343525 0.28141953
+v 0.25396469 0.27963851 0.28141941
+v 0.25396469 0.27963851 0.28161626
+v 0.25392135 0.27963845 0.29684245
+v 0.25236145 0.29473497 0.31206014
+v 0.25197148 0.29473492 0.32727776
+v 0.25305474 0.27963834 0.32727771
+v 0.25426801 0.14376914 0.31205959
+v 0.25431132 0.14264959 0.31094693
+v 0.25201480 0.14264948 0.34138217
+v 0.24928499 0.20415527 0.36884776
+v 0.23762903 0.31271774 0.36884816
+v 0.23780236 0.31336502 0.35772164
+v 0.24737843 0.30633281 0.34249543
+v 0.24742177 0.30629799 0.29684255
+v 0.25214479 0.29473503 0.29684250
+v 0.25175482 0.29473509 0.28141946
+v 0.24703178 0.30589572 0.28161635
+v 0.24703178 0.30587822 0.28141950
+v 0.25179816 0.29454267 0.28141946
+v 0.24685847 0.30580796 0.35772161
+v 0.25101819 0.29473486 0.34249538
+v 0.25331472 0.14376909 0.32727721
+v 0.25340140 0.14264953 0.32615600
+v 0.24976161 0.29473481 0.35772157
+v 0.25166817 0.27963828 0.34249533
+v 0.25426801 0.14264958 0.31205958
+v 0.25331472 0.14264953 0.32727720
+v 0.25188481 0.15886561 0.34249488
+v 0.25036824 0.20415531 0.35772124
+v 0.25015158 0.27963823 0.35772152
+v 0.24889499 0.27963819 0.36884804
+v 0.24009888 0.31068851 0.36884815
+v 0.24633849 0.30517818 0.36884813
+v 0.24711845 0.30218685 0.36884812
+v 0.24859168 0.29473477 0.36884809
+v 0.24867835 0.29067635 0.36884808
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_52.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..322568c1d073521e3ce2f44725cccc17ed8577ba
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_52.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.31331652 0.02217405 0.41859465
+v -0.31288629 0.02217400 0.43382688
+v -0.31288629 0.02296914 0.43382688
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+v -0.31321186 0.03806589 0.41859471
+v -0.31307232 0.07858533 0.35770050
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+v -0.31314210 0.03806612 0.35770035
+v -0.31314210 0.02217428 0.35770029
+v -0.30914222 0.02217394 0.44902447
+v -0.30914222 0.02296908 0.44902447
+v -0.30910734 0.03806578 0.44902453
+v -0.31256072 0.07858505 0.43382709
+v -0.30901433 0.05316247 0.44902459
+v -0.31287467 0.07858510 0.41859486
+v -0.31237468 0.07858538 0.34246821
+v -0.30737485 0.06666461 0.10739164
+v -0.31121193 0.05316373 0.10739160
+v -0.31240956 0.02217433 0.34246800
+v -0.30714229 0.04034203 0.10739155
+v -0.30889805 0.02217394 0.44947554
+v -0.30445634 0.03806575 0.45752547
+v -0.31138635 0.07858503 0.43861537
+v -0.30439820 0.05316244 0.45745612
+v -0.30425866 0.07858496 0.45735213
+v -0.30735159 0.07858498 0.45169639
+v -0.30880503 0.07858499 0.44902468
+v -0.29901466 0.07858625 0.10739169
+v -0.29418924 0.02217520 0.10739148
+v -0.30447960 0.02217391 0.45752541
+v -0.30447960 0.02296905 0.45752541
+v -0.29568918 0.02296904 0.45998893
+v -0.29568918 0.03806574 0.45995431
+v -0.29568918 0.05316243 0.45988497
+v -0.29568918 0.07858495 0.45971156
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+v -0.19454133 0.02217520 0.10739148
+v -0.29568918 0.02217390 0.45998893
+v -0.28048038 0.02296903 0.46168913
+v -0.28048038 0.03806573 0.46165445
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+v -0.28529418 0.07858495 0.46092596
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+v -0.26525994 0.02296903 0.46182789
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+v -0.25006276 0.03806573 0.46172386
+v -0.25006276 0.05316243 0.46130758
+v -0.23484234 0.02296904 0.46026651
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+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 9 19
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+f 1 29 37
+f 1 37 44
+f 1 44 50
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_53.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75dd173a9244cb762e20ca8efd150c0236bacd65
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_53.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.09977699 -0.04093432 0.10799134
+v 0.09445677 -0.08682632 0.10799117
+v 0.10474546 -0.04093430 0.10252160
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+v 0.12316833 -0.06076897 0.04835825
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+v 0.12057420 -0.05327537 0.06957422
+v 0.12373993 -0.04874231 0.06522791
+v 0.12180532 -0.04093419 0.07316551
+v 0.11815590 -0.04093422 0.08058740
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+v 0.10988979 -0.04093427 0.09517337
+v -0.29871150 -0.08682632 0.10799117
+v -0.29536989 -0.04093363 -0.07873477
+v -0.31933285 -0.05916912 -0.08015293
+v -0.30996751 -0.05566558 0.10799129
+v 0.10505324 -0.08682611 0.05275973
+v 0.10672404 -0.08682606 0.03804485
+v 0.12338818 -0.06109239 0.03804495
+v 0.12677378 -0.05252948 0.03804498
+v 0.12483915 -0.05327531 0.05336759
+v 0.12655393 -0.04093412 0.05329398
+v 0.12395978 -0.04093416 0.06614878
+v -0.30310837 -0.08333106 0.10799118
+v -0.31986045 -0.07665483 0.04996044
+v -0.32052000 -0.07736462 0.03804489
+v -0.31089085 -0.08224808 0.03804487
+v -0.30165740 -0.08682606 0.03804485
+v -0.29536989 -0.04093363 -0.08015286
+v -0.31937681 -0.06107848 -0.08015293
+v -0.32034411 -0.06957882 0.00762065
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+v -0.31774996 -0.06138441 0.03804494
+v -0.31607916 -0.06762487 0.09894868
+v -0.31519979 -0.06762491 0.10799124
+v 0.10659213 -0.08682601 0.02469280
+v 0.12312437 -0.06073744 0.02703181
+v 0.10654817 -0.08682600 0.02283272
+v 0.12848857 -0.04093400 0.02272239
+v 0.12866443 -0.04093406 0.03804502
+v 0.12567456 -0.05378286 0.02229875
+v -0.30847258 -0.07884744 0.10799120
+v -0.31986045 -0.07088183 0.04996046
+v -0.32043204 -0.07727920 0.02283276
+v -0.30376790 -0.08682563 -0.08015303
+v -0.30367997 -0.08682567 -0.06847689
+v -0.30341615 -0.08682572 -0.05326476
+v -0.30196518 -0.08682600 0.02283272
+v 0.07625372 -0.04093363 -0.08015286
+v -0.31924489 -0.06862606 -0.08015296
+v -0.32034411 -0.07718481 0.00762063
+v 0.12246484 -0.05965468 0.01688425
+v 0.10509720 -0.08682595 0.00762059
+v 0.12444344 -0.04896673 0.00762073
+v 0.12778505 -0.04093399 0.01821031
+v 0.08909259 -0.08682563 -0.08015303
+v -0.32008030 -0.07690620 -0.00759150
+v -0.31207800 -0.08028888 -0.08015300
+v 0.10289876 -0.04093376 -0.04396419
+v -0.31911300 -0.07031079 -0.08015297
+v 0.12294851 -0.04568260 -0.00068516
+v 0.12607027 -0.04093395 0.00762076
+v 0.10474546 -0.04093377 -0.04133062
+v 0.10646023 -0.04093378 -0.03884438
+v 0.10940613 -0.04093380 -0.03389030
+v 0.11318744 -0.04093382 -0.02606324
+v 0.11459445 -0.04093384 -0.02285875
+v 0.12171736 -0.04093390 -0.00635746
+v 0.12343215 -0.04093391 -0.00197430
+v -0.31880522 -0.07275028 -0.08015298
+v -0.31854140 -0.07522571 -0.07807191
+v -0.31612313 -0.07709464 -0.08015299
+v 0.12514693 -0.04093394 0.00410318
+f 1 2 3
+f 1 3 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 24
+f 1 24 23
+f 1 23 41
+f 1 41 40
+f 1 40 56
+f 1 56 63
+f 1 63 74
+f 1 74 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 60
+f 1 60 50
+f 1 50 30
+f 1 30 15
+f 1 15 4
+f 1 4 17
+f 1 17 36
+f 1 36 43
+f 1 43 25
+f 1 25 14
+f 1 14 2
+f 2 5 6
+f 2 6 7
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+f 2 8 9
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+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
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+f 2 49 48
+f 2 48 47
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+f 2 46 57
+f 2 57 54
+f 2 54 39
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+f 2 37 19
+f 2 19 18
+f 2 18 5
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+f 4 16 17
+f 5 18 6
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+f 6 22 7
+f 6 18 19
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+f 14 28 29
+f 15 30 16
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 17
+f 16 30 50
+f 16 50 57
+f 16 57 46
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+f 16 59 73
+f 16 73 71
+f 16 71 61
+f 16 61 51
+f 16 51 31
+f 17 34 35
+f 17 35 36
+f 19 37 20
+f 20 38 21
+f 20 37 39
+f 20 39 38
+f 21 40 41
+f 21 41 22
+f 21 38 42
+f 21 42 40
+f 22 41 23
+f 25 43 26
+f 26 44 33
+f 26 33 27
+f 26 43 36
+f 26 36 35
+f 26 35 44
+f 27 33 32
+f 27 32 52
+f 27 52 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 28 47 48
+f 28 48 49
+f 28 49 29
+f 31 51 52
+f 31 52 32
+f 33 44 35
+f 33 35 34
+f 38 53 42
+f 38 39 54
+f 38 54 53
+f 40 42 55
+f 40 55 56
+f 42 53 55
+f 45 52 46
+f 46 52 58
+f 46 58 59
+f 50 60 57
+f 51 61 58
+f 51 58 52
+f 53 54 57
+f 53 57 55
+f 55 62 63
+f 55 63 56
+f 55 57 62
+f 57 60 64
+f 57 64 65
+f 57 65 66
+f 57 66 67
+f 57 67 68
+f 57 68 69
+f 57 69 70
+f 57 70 62
+f 58 61 71
+f 58 71 72
+f 58 72 73
+f 58 73 59
+f 62 70 74
+f 62 74 63
+f 71 73 72
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_54.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e015ce60a83491573fe7a48ea13662fec41e1d33
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_54.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.12831111 -0.08272189 0.46457905
+v -0.11479906 -0.03910007 0.46454737
+v -0.12831111 -0.05253269 0.46451553
+v -0.14353400 -0.06762727 0.46139761
+v -0.12831111 -0.10896475 0.46454711
+v -0.11312314 -0.10896475 0.46451532
+v -0.09790024 -0.05253269 0.46454732
+v -0.09790024 -0.03910007 0.46454737
+v -0.12831111 -0.03910007 0.46442015
+v -0.14353400 -0.10896473 0.46111112
+v -0.12998703 -0.03910006 0.46403838
+v -0.14353400 -0.05253267 0.46107954
+v -0.15264682 -0.06762726 0.45745263
+v -0.09391995 -0.10896475 0.46445168
+v -0.09790024 -0.09782333 0.46448356
+v -0.08267735 -0.03910007 0.46451558
+v -0.15212308 -0.10896472 0.45713434
+v -0.14475603 -0.03910005 0.45990243
+v -0.15208817 -0.05253266 0.45716634
+v -0.19430029 -0.03909996 0.43667772
+v -0.17397981 -0.10896468 0.44609462
+v -0.08267735 -0.10896475 0.46438804
+v -0.08267735 -0.09782333 0.46441993
+v -0.06745446 -0.03910007 0.46445194
+v -0.19430029 -0.03909887 0.13959219
+v -0.19430029 -0.10896463 0.43270064
+v -0.18221972 -0.10896466 0.44189509
+v -0.06745446 -0.10896475 0.46429261
+v -0.05226647 -0.03910007 0.46435651
+v -0.19430029 -0.10896355 0.13959193
+v 0.08554262 -0.03909887 0.13959219
+v -0.03871949 -0.03910007 0.46426108
+v -0.05226647 -0.10896474 0.46406991
+v 0.16239031 -0.03910006 0.46247945
+v 0.13403940 -0.10896355 0.13959193
+v 0.16239031 -0.03909904 0.18403730
+v 0.16239031 -0.03914691 0.18400549
+v 0.16239031 -0.10896360 0.15171333
+v -0.04825126 -0.10896474 0.46400627
+v 0.05422396 -0.10896474 0.46206563
+v 0.16239031 -0.05106904 0.46197035
+v -0.02182069 -0.10896474 0.46352907
+v -0.00663271 -0.10896474 0.46324273
+v 0.16239031 -0.10896471 0.45452553
+v 0.05820426 -0.10896474 0.46197014
+v 0.16239031 -0.05253268 0.46190671
+v 0.16239031 -0.10812346 0.45474821
+v 0.08463483 -0.10896473 0.46069755
+v 0.06944685 -0.10896474 0.46168380
+v 0.16239031 -0.06762727 0.46104768
+v 0.16239031 -0.10211162 0.45630716
+v 0.07342715 -0.10896473 0.46142930
+v 0.16239031 -0.09546370 0.45792973
+v 0.16239031 -0.08272187 0.45983868
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 16
+f 2 16 24
+f 2 24 29
+f 2 29 32
+f 2 32 34
+f 2 34 36
+f 2 36 31
+f 2 31 25
+f 2 25 20
+f 2 20 18
+f 2 18 11
+f 2 11 9
+f 3 9 4
+f 4 10 5
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 10
+f 5 10 17
+f 5 17 21
+f 5 21 27
+f 5 27 26
+f 5 26 30
+f 5 30 35
+f 5 35 38
+f 5 38 44
+f 5 44 48
+f 5 48 52
+f 5 52 49
+f 5 49 45
+f 5 45 40
+f 5 40 43
+f 5 43 42
+f 5 42 39
+f 5 39 33
+f 5 33 28
+f 5 28 22
+f 5 22 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 10 13 17
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 13 20 21
+f 13 21 17
+f 13 19 20
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 18 20 19
+f 20 25 30
+f 20 30 26
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 25 31 35
+f 25 35 30
+f 28 32 29
+f 28 33 34
+f 28 34 32
+f 31 36 37
+f 31 37 38
+f 31 38 35
+f 33 39 34
+f 34 40 41
+f 34 41 46
+f 34 46 50
+f 34 50 54
+f 34 54 53
+f 34 53 51
+f 34 51 47
+f 34 47 44
+f 34 44 38
+f 34 38 37
+f 34 37 36
+f 34 39 42
+f 34 42 43
+f 34 43 40
+f 40 45 41
+f 41 45 46
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 47 51 48
+f 48 51 53
+f 48 53 52
+f 49 52 53
+f 49 53 54
+f 49 54 50
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_55.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe8a746a8b3623a13cb891ab52506a99223c163
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_55.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06748067 0.14264901 0.46464514
+v -0.09902240 0.14264901 0.46461014
+v -0.09787682 0.11355805 0.46461004
+v -0.08267875 0.09846386 0.46460998
+v -0.03704634 0.09846386 0.46460998
+v 0.18546415 0.12865223 0.46461009
+v 0.18546415 0.14264901 0.46461014
+v -0.11311308 0.14264901 0.46457519
+v -0.11311308 0.07858493 0.46457496
+v -0.05224441 0.07858493 0.46457496
+v 0.18546415 0.08336340 0.46457498
+v 0.18546415 0.14265027 0.12330326
+v -0.11422047 0.14264901 0.46450524
+v -0.12831117 0.07858494 0.46377065
+v -0.11792452 0.07858493 0.46433016
+v 0.18546415 0.07858493 0.46453996
+v 0.18546415 0.07858601 0.17254074
+v 0.09022799 0.07858625 0.10742667
+v 0.14120645 0.14265033 0.10742690
+v -0.12831117 0.14264902 0.46321137
+v -0.12831117 0.12865224 0.46345607
+v -0.12831117 0.11355806 0.46356097
+v -0.13308443 0.07858494 0.46251172
+v -0.20456883 0.07858625 0.10742667
+v -0.20456883 0.14265033 0.10742690
+v -0.12934219 0.14264902 0.46293161
+v -0.14228727 0.12865225 0.45946950
+v -0.14297462 0.09846388 0.45967924
+v -0.14324192 0.08336342 0.45974915
+v -0.14328012 0.07858495 0.45978407
+v -0.20456883 0.07858504 0.43450079
+v -0.20456883 0.14264912 0.43425624
+v -0.14167631 0.14264903 0.45925974
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 19
+f 1 19 25
+f 1 25 32
+f 1 32 33
+f 1 33 26
+f 1 26 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 16
+f 6 16 17
+f 6 17 12
+f 6 12 7
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 14
+f 9 14 23
+f 9 23 30
+f 9 30 31
+f 9 31 24
+f 9 24 18
+f 9 18 17
+f 9 17 16
+f 9 16 10
+f 10 16 11
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 18 24 25
+f 18 25 19
+f 20 26 21
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+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 24 31 32
+f 24 32 25
+f 26 33 27
+f 27 33 32
+f 27 32 28
+f 28 32 29
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_56.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b012f92e60efa13757349ad6e9e26955cc3b34b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_56.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.19452970 0.07858625 0.10739489
+v -0.19452970 0.02217520 0.10739468
+v -0.19452970 0.07858613 0.14006074
+v 0.09023467 0.07858625 0.10739489
+v -0.19452970 0.02217508 0.14006053
+v 0.10532778 0.02217520 0.10739468
+v 0.10662483 0.07858613 0.14006074
+v 0.10500351 0.03021499 0.10739471
+v 0.08371988 0.02217508 0.14006053
+v 0.10588786 0.02699024 0.10739470
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 10 7
+f 6 7 9
+f 7 10 8
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_57.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a884c6564df307527a3dcf3719b0b4fbdfc0ee98
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_57.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.28352498 0.18851361 0.13590204
+v 0.28287247 0.20503262 0.13590210
+v 0.27821168 0.17721370 0.13590200
+v 0.31287254 0.20415700 0.12980896
+v 0.28276373 0.20534535 0.13590210
+v 0.27985850 0.17721372 0.12953139
+v 0.30644062 0.18096668 0.06459324
+v 0.31287254 0.18924340 0.11417091
+v 0.32329719 0.19391346 0.11417092
+v 0.32210092 0.19494196 0.12381565
+v 0.17568946 0.17721370 0.13590200
+v 0.32351470 0.20415702 0.12484786
+v 0.32340596 0.21925138 0.12410431
+v 0.31287254 0.21925137 0.12833289
+v 0.29766276 0.21925136 0.13130733
+v 0.25551355 0.24819610 0.13590226
+v 0.27894186 0.17721376 0.11863252
+v 0.29766276 0.17904184 0.02285125
+v 0.30821172 0.18002867 0.02285125
+v 0.30828942 0.18011894 0.03806749
+v 0.30768349 0.18043162 0.05329483
+v 0.31529615 0.18484457 0.05329485
+v 0.31590205 0.18467089 0.03806751
+v 0.32371668 0.19367724 0.09894359
+v 0.32962037 0.20415712 0.09894363
+v 0.32792695 0.20415706 0.11417096
+v 0.17568946 0.24819610 0.13590226
+v 0.17568946 0.17721406 0.03820066
+v 0.32929412 0.21925142 0.11417102
+v 0.32196111 0.22943244 0.12281690
+v 0.26438461 0.24819618 0.11417112
+v 0.31156750 0.23442217 0.12394897
+v 0.30561721 0.24196241 0.12187357
+v 0.32031429 0.24188604 0.10632437
+v 0.26637322 0.17721412 0.02256268
+v 0.29766276 0.17904879 0.02251829
+v 0.30819618 0.18003562 0.02251829
+v 0.31565349 0.18476129 0.02251831
+v 0.31582437 0.18485858 0.02285127
+v 0.32408953 0.19240576 0.02285130
+v 0.32407400 0.19221806 0.03806754
+v 0.32405847 0.19239869 0.05329488
+v 0.33005539 0.20415717 0.08372739
+v 0.33361313 0.21925153 0.08372745
+v 0.33288292 0.21925148 0.09894369
+v 0.17568946 0.24819652 0.02251854
+v 0.17568946 0.17804805 0.02256268
+v 0.20265999 0.17721412 0.02251828
+v 0.32466439 0.23254585 0.11417106
+v 0.31681869 0.24009302 0.11417109
+v 0.26576732 0.24819623 0.10107473
+v 0.31287254 0.24454796 0.03806773
+v 0.31287254 0.24471479 0.02285149
+v 0.32592280 0.23585387 0.10033108
+v 0.32088912 0.24207372 0.09616911
+v 0.26631108 0.17721412 0.02251828
+v 0.31580884 0.18486553 0.02251831
+v 0.32408953 0.19241271 0.02251834
+v 0.33067683 0.20415740 0.02251838
+v 0.33067683 0.20415740 0.02285134
+v 0.33063020 0.20415734 0.03806758
+v 0.33053699 0.20415728 0.05329492
+v 0.33033502 0.20415723 0.06851116
+v 0.33386171 0.21925159 0.06851122
+v 0.33052146 0.23434606 0.03806769
+v 0.32985342 0.23434600 0.05329503
+v 0.32833087 0.23434589 0.08372750
+v 0.17568946 0.17888200 0.02251829
+v 0.26705680 0.24819652 0.02251854
+v 0.17595356 0.17808975 0.02251828
+v 0.26592267 0.24819624 0.09894379
+v 0.32141735 0.24230309 0.08372753
+v 0.32206985 0.24258113 0.06851130
+v 0.32270683 0.24285916 0.05329506
+v 0.32326612 0.24307467 0.03806772
+v 0.32345256 0.24314422 0.02285148
+v 0.31287254 0.24471479 0.02251853
+v 0.26707233 0.24819646 0.03830081
+v 0.26699466 0.24819640 0.05363914
+v 0.26637322 0.24819629 0.08498170
+v 0.33429670 0.21893208 0.02251843
+v 0.33438994 0.21925176 0.02285140
+v 0.33429670 0.21925170 0.03806764
+v 0.33409475 0.21925164 0.05329498
+v 0.33077004 0.23434612 0.02285145
+v 0.26707233 0.24819652 0.02308458
+v 0.32345256 0.24314422 0.02251852
+v 0.33437438 0.21925176 0.02251844
+v 0.33084771 0.23402645 0.02251849
+v 0.33077004 0.23434612 0.02251849
+f 1 2 5
+f 1 5 16
+f 1 16 27
+f 1 27 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_58.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c2d41b731f3981583df989705c9d1575a1601d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_58.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.31371892 -0.03742579 0.40337943
+v -0.31359549 -0.03742574 0.38816361
+v -0.31368189 -0.03909300 0.40337943
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+v -0.31291668 -0.03742590 0.43381110
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+v -0.31222551 -0.03909278 0.34418948
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_59.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56707aa8e4804c344271910fc2809ae875de3293
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_59.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.17568414 0.17720710 0.03820066
+v 0.20265876 0.17720716 0.02251828
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+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_6.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9cc0c261979070a8bfd51f081329c90a84502d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_6.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v 0.20639115 -0.32092923 0.03802783
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+v 0.22159233 -0.31997838 0.02281699
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_60.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5a97f765f74c1cbf073eca1e2675fa089ca9e0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_60.obj
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+f 44 60 47
+f 45 47 61
+f 47 60 62
+f 47 62 63
+f 47 63 61
+f 49 65 66
+f 56 67 57
+f 57 67 68
+f 57 68 58
+f 58 68 59
+f 59 69 62
+f 59 62 60
+f 59 68 70
+f 59 70 71
+f 59 71 72
+f 59 72 81
+f 59 81 69
+f 62 73 63
+f 62 69 74
+f 62 74 73
+f 64 75 76
+f 65 77 66
+f 66 77 71
+f 66 71 78
+f 66 78 75
+f 67 79 68
+f 68 79 80
+f 68 80 78
+f 68 78 70
+f 69 81 82
+f 69 82 74
+f 70 78 71
+f 71 81 72
+f 71 77 83
+f 71 83 81
+f 74 82 84
+f 75 78 85
+f 75 85 76
+f 78 86 85
+f 78 80 86
+f 81 84 82
+f 81 83 84
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_61.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210830f3197602351f7bb29d913d35fd6daa531d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_61.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.21205933 -0.22979454 0.44640287
+v -0.16952543 -0.22979448 0.43141903
+v -0.16952543 -0.18553599 0.44385576
+v -0.16952543 -0.17331923 0.44674020
+v -0.16952543 -0.15791343 0.44763930
+v -0.16952543 -0.14312274 0.44797648
+v -0.16952543 -0.13312033 0.44812636
+v -0.21205933 -0.13312026 0.43033306
+v -0.21205933 -0.22979314 0.06547628
+v -0.16952543 -0.22979314 0.06547628
+v -0.16952543 -0.13311892 0.06547663
+v -0.21205933 -0.13311892 0.06547663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 12
+f 1 12 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 11 12
+f 7 12 8
+f 9 12 11
+f 9 11 10
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_62.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059f692c8244b3634848cdb22cfe39062442879a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_62.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06745837 0.07858493 0.46460556
+v -0.08268526 0.02217388 0.46457361
+v -0.06745837 0.03806572 0.46457367
+v -0.04184660 0.07858493 0.46457382
+v -0.11310721 0.07858493 0.46457382
+v -0.11310721 0.06825911 0.46457378
+v -0.09870855 0.02217388 0.46457361
+v -0.06745837 0.02217388 0.46454182
+v 0.13090543 0.06825911 0.46428787
+v 0.11507328 0.07858493 0.46431965
+v -0.11791738 0.07858493 0.46431965
+v -0.12833410 0.02296903 0.46400174
+v -0.12833410 0.02217389 0.46400174
+v -0.11310721 0.02217388 0.46454182
+v 0.09987824 0.02217389 0.46384295
+v 0.09987824 0.02296903 0.46387468
+v 0.13090543 0.03806573 0.46400180
+v 0.13090543 0.05375324 0.46422424
+v 0.13090543 0.07858493 0.46428791
+v -0.12833410 0.07858494 0.46374784
+v -0.12833410 0.06825912 0.46381133
+v -0.14340173 0.03806574 0.45999901
+v -0.14496264 0.02217390 0.45942713
+v 0.13030018 0.02217389 0.46368410
+v 0.13090543 0.02220702 0.46368410
+v 0.13090543 0.02296903 0.46371584
+v 0.13090543 0.07858605 0.15982063
+v -0.13308057 0.07858494 0.46250884
+v -0.14336987 0.05316243 0.45993554
+v -0.19452971 0.02217397 0.44030262
+v 0.13090543 0.02217389 0.46301691
+v 0.13090543 0.02222463 0.17802364
+v 0.10659972 0.07858613 0.14006074
+v -0.14327430 0.07858495 0.45980857
+v -0.14336987 0.06825913 0.45984027
+v -0.15875605 0.07858498 0.45316898
+v -0.17398294 0.07858500 0.44656119
+v -0.18322101 0.07858502 0.44230422
+v -0.19452971 0.07858503 0.43696716
+v -0.19452971 0.02217508 0.14006053
+v -0.14849861 0.07858496 0.45758480
+v 0.13090543 0.02217494 0.17821425
+v 0.08372753 0.02217508 0.14006053
+v -0.19452971 0.07858613 0.14006074
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 27
+f 1 27 33
+f 1 33 44
+f 1 44 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 41
+f 1 41 34
+f 1 34 28
+f 1 28 20
+f 1 20 11
+f 1 11 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 14
+f 2 14 13
+f 2 13 23
+f 2 23 30
+f 2 30 40
+f 2 40 43
+f 2 43 42
+f 2 42 31
+f 2 31 24
+f 2 24 15
+f 2 15 8
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 26
+f 9 26 25
+f 9 25 31
+f 9 31 42
+f 9 42 32
+f 9 32 27
+f 9 27 19
+f 9 19 10
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 17
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 30
+f 22 30 23
+f 24 31 25
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 44
+f 30 44 40
+f 30 35 34
+f 30 34 41
+f 30 41 36
+f 32 42 43
+f 32 43 33
+f 33 43 40
+f 33 40 44
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_63.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009870d1bd833b43486f796cd4c7db26bafcf778
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_63.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.08267382 0.02217388 0.46458221
+v -0.09788689 -0.02232514 0.46456234
+v -0.08267382 -0.00723625 0.46456239
+v -0.06746076 0.02217388 0.46456250
+v -0.11309996 0.02217388 0.46456250
+v -0.11309996 0.00786463 0.46456245
+v -0.11479755 -0.03909323 0.46454252
+v -0.09788689 -0.03909323 0.46454252
+v -0.08267382 -0.03909323 0.46452282
+v -0.06746076 0.00786463 0.46454269
+v 0.14588127 0.02217389 0.46385253
+v -0.12831302 0.02217389 0.46399058
+v -0.12831302 -0.03742602 0.46440447
+v -0.12831302 -0.03909323 0.46440447
+v -0.06746076 -0.03909323 0.46444394
+v 0.14588127 0.00786464 0.46357637
+v 0.14588127 0.02217462 0.26312967
+v -0.05391264 -0.03909323 0.46436506
+v -0.03869958 -0.03909323 0.46426647
+v -0.12912918 0.02217389 0.46379336
+v -0.13001062 -0.03909322 0.46402978
+v 0.14588127 -0.00687641 0.46318186
+v -0.02348651 -0.03909322 0.46410866
+v 0.14588127 -0.03909249 0.26312945
+v -0.18763092 0.02217462 0.26312967
+v -0.14496251 0.02217390 0.45941521
+v -0.14352609 0.00786465 0.46016461
+v -0.14352609 -0.00723623 0.46030260
+v -0.14476665 -0.03909321 0.45990803
+v 0.14588127 -0.02232513 0.46257047
+v -0.02182156 -0.03909322 0.46408895
+v -0.00664114 -0.03909322 0.46389172
+v 0.14588127 -0.03909321 0.46144628
+v -0.18763092 -0.03909249 0.26312945
+v -0.18763092 0.02217397 0.44036451
+v -0.14594190 0.02217390 0.45898135
+v -0.15145909 -0.00723622 0.45679219
+v -0.18763092 0.01098924 0.44060111
+v -0.14561544 -0.03909321 0.45951363
+v 0.14588127 -0.03707217 0.46193932
+v 0.14552217 -0.03909322 0.46184073
+v 0.14588127 -0.03905124 0.46184073
+v -0.18763092 -0.03909310 0.43010923
+v -0.15116527 0.02217391 0.45665425
+v -0.18763092 -0.00723615 0.43884586
+v -0.15113262 -0.03909320 0.45665403
+v -0.18763092 -0.03673022 0.43302799
+v -0.18763092 -0.02232503 0.43628205
+v -0.18763092 -0.03473916 0.43383658
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 25
+f 1 25 35
+f 1 35 44
+f 1 44 36
+f 1 36 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 21
+f 7 21 29
+f 7 29 39
+f 7 39 46
+f 7 46 43
+f 7 43 34
+f 7 34 24
+f 7 24 33
+f 7 33 41
+f 7 41 32
+f 7 32 31
+f 7 31 23
+f 7 23 19
+f 7 19 18
+f 7 18 15
+f 7 15 9
+f 7 9 8
+f 9 15 11
+f 9 11 10
+f 11 16 22
+f 11 22 30
+f 11 30 40
+f 11 40 42
+f 11 42 33
+f 11 33 24
+f 11 24 17
+f 11 15 18
+f 11 18 19
+f 11 19 16
+f 12 20 21
+f 12 21 13
+f 13 21 14
+f 16 19 23
+f 16 23 22
+f 17 24 34
+f 17 34 25
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 22 23 31
+f 22 31 32
+f 22 32 30
+f 25 34 43
+f 25 43 47
+f 25 47 49
+f 25 49 48
+f 25 48 45
+f 25 45 38
+f 25 38 35
+f 26 28 27
+f 26 36 37
+f 26 37 28
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 30 32 40
+f 32 41 42
+f 32 42 40
+f 33 42 41
+f 35 38 44
+f 36 44 38
+f 36 38 37
+f 38 45 46
+f 38 46 39
+f 43 46 47
+f 45 48 46
+f 46 48 49
+f 46 49 47
+
diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_64.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59991626e5a3dc20ca9d591ff5996f9f2637fc60
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_64.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v 0.17591846 0.32128468 0.36884819
+v 0.09984131 0.32125479 0.41860209
+v 0.17591846 0.32126481 0.38816618
+v 0.19114244 0.32121524 0.40339351
+v 0.19114244 0.32121529 0.38816618
+v 0.19114244 0.32120549 0.36884819
+v 0.06943611 0.32115600 0.36884819
+v -0.12830458 0.32120525 0.43382943
+v -0.11312338 0.32121513 0.43382943
+v -0.08267541 0.32123495 0.43382943
+v -0.00659827 0.32124483 0.43382943
+v 0.13028927 0.32121513 0.43382943
+v 0.16073723 0.32119534 0.43382943
+v 0.19114244 0.32118551 0.41860209
+v 0.20636642 0.32092813 0.41860209
+v 0.20636642 0.32094798 0.40339351
+v 0.20636642 0.32095794 0.38816618
+v 0.20636642 0.32096793 0.36884819
+v 0.19524778 0.32114609 0.36884819
+v 0.02791228 0.32109660 0.36884819
+v -0.14352856 0.32118546 0.43382943
+v -0.11312338 0.32104681 0.44904737
+v -0.08267541 0.32105670 0.44904737
+v 0.13028927 0.32106660 0.44904737
+v 0.16073723 0.32106660 0.44904737
+v 0.17591846 0.32114585 0.43382943
+v 0.19114244 0.32106666 0.43382943
+v 0.20636642 0.32068061 0.43382943
+v 0.22094894 0.31902758 0.41860208
+v 0.22159040 0.31930486 0.38816617
+v 0.22159040 0.31943360 0.37294820
+v 0.22159040 0.31944352 0.36884818
+v 0.21047175 0.32056208 0.36884819
+v -0.12830458 0.32082934 0.36884819
+v -0.18766100 0.32109636 0.43382943
+v -0.18766100 0.32094782 0.44750869
+v -0.14352856 0.32100721 0.44904737
+v -0.14352856 0.31907696 0.45855156
+v -0.12830458 0.31908684 0.45856093
+v -0.11312338 0.31909675 0.45856093
+v -0.18766100 0.31902744 0.45851405
+v 0.16073723 0.31915614 0.45869228
+v 0.17591846 0.31909675 0.45862663
+v 0.17591846 0.32096763 0.44904737
+v 0.19114244 0.32068055 0.44904737
+v 0.20717892 0.31915617 0.44985423
+v 0.21714295 0.31827519 0.44531324
+v 0.21958049 0.31886916 0.43382942
+v 0.22915963 0.31737453 0.41066473
+v 0.22941621 0.31750328 0.40052255
+v 0.22308713 0.31879007 0.40471639
+v 0.22967279 0.31764190 0.38816617
+v 0.22997214 0.31775085 0.37294820
+v 0.23005767 0.31776075 0.36884818
+v 0.22389966 0.31898819 0.36884818
+v -0.13942323 0.32006714 0.36884819
+v -0.18766100 0.32075991 0.40339351
+v -0.17397655 0.32087870 0.40339351
+v -0.18766100 0.32092814 0.41706342
+v -0.18766100 0.32092802 0.44904737
+v -0.14352856 0.30984148 0.46252019
+v -0.17397655 0.30984148 0.46249205
+v -0.11312338 0.30984148 0.46253898
+v 0.11506530 0.30984148 0.46267970
+v 0.14551325 0.30984148 0.46269848
+v -0.18766100 0.30984148 0.46246391
+v 0.16073723 0.30984148 0.46269848
+v 0.17591846 0.30984148 0.46262341
+v 0.19114244 0.30984148 0.46236069
+v 0.19114244 0.31889876 0.45836392
+v 0.20264594 0.31830485 0.45767904
+v 0.21278101 0.31664190 0.45546481
+v 0.22719249 0.31652318 0.43382941
+v 0.22856094 0.31718643 0.41860208
+v 0.24630799 0.30517955 0.36884813
+v 0.24010721 0.31069310 0.36884815
+v 0.23762691 0.31272233 0.36884816
+v 0.23206759 0.31657291 0.36884817
+v -0.14352856 0.31976027 0.36884818
+v -0.18766100 0.32058174 0.40216445
+v -0.17397655 0.29473611 0.46454668
+v -0.00659827 0.29473611 0.46466868
+v -0.18766100 0.29626051 0.46431218
+v 0.02380693 0.29473611 0.46468746
+v 0.19114244 0.29473611 0.46467804
+v 0.03898815 0.29473611 0.46468746
+v 0.20636642 0.29473612 0.46374923
+v 0.20717892 0.31090065 0.45992134
+v 0.21684361 0.30657495 0.45841080
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+v 0.23399196 0.30897050 0.43382938
+v 0.24519612 0.30364519 0.38816612
+v 0.24613692 0.30494197 0.37294815
+v 0.24712049 0.30220006 0.36884812
+v -0.18766100 0.31471197 0.36884817
+v -0.18766100 0.31900789 0.39155314
+v -0.18766100 0.29473611 0.46451854
+v -0.06745143 0.22015965 0.46464963
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+v 0.21962325 0.27964068 0.46031525
+v 0.21885349 0.29473613 0.45974300
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+v 0.23326497 0.29473618 0.44692690
+v 0.23916640 0.29473623 0.43382933
+v 0.24464019 0.30270480 0.39765153
+v 0.24857448 0.29473647 0.36884809
+v -0.18766100 0.22016001 0.36884782
+v -0.18766100 0.28116507 0.46445284
+v -0.08177736 0.22015966 0.46406796
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+v 0.22005090 0.24944978 0.46055908
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+v 0.22723526 0.27964070 0.45503309
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+v 0.24215989 0.29473628 0.41860199
+v 0.24387043 0.29473632 0.40707124
+v 0.24485400 0.29473635 0.39946226
+v 0.24626522 0.29473639 0.38816608
+v 0.24814683 0.29473645 0.37294811
+v 0.24866002 0.29067802 0.36884808
+v -0.18766100 0.22015970 0.45272483
+v 0.24921594 0.22016001 0.36884782
+v -0.18766100 0.26607953 0.46337383
+v -0.18766100 0.26455513 0.46322368
+v 0.22787672 0.22015969 0.45552074
+v 0.22779118 0.23435435 0.45544572
+v 0.22766288 0.24944980 0.45533321
+v 0.22749184 0.26455516 0.45518315
+v 0.23373538 0.26455519 0.44757416
+v 0.24014998 0.22015976 0.43467347
+v 0.23993617 0.26455524 0.43382922
+v 0.24254477 0.27964083 0.41860194
+v 0.24404150 0.27964087 0.40827211
+v 0.24840341 0.27964100 0.37294806
+v 0.24887383 0.27964102 0.36884804
+v 0.24498231 0.27964090 0.40066313
+v 0.24870278 0.22015999 0.37386732
+v 0.22826157 0.22015969 0.45506102
+v 0.23394920 0.23435438 0.44783677
+v 0.24049209 0.22015977 0.43382906
+v 0.23403473 0.22015971 0.44790240
+v 0.24352832 0.22015983 0.41726006
+v 0.24438361 0.22553483 0.41074882
+v 0.24519612 0.22015987 0.40473481
+v 0.24703499 0.22015993 0.38903836
+f 1 2 3
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+f 1 6 19
+f 1 19 18
+f 1 18 33
+f 1 33 32
+f 1 32 55
+f 1 55 54
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_7.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af925ff6d7681854908d9ba52d862b90093b233e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_7.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_8.obj b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e0788f9502ede1741f0f42077304098445b0567
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/mjcf/mesh/washing_machine_42_collision_8.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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