diff --git a/.gitattributes b/.gitattributes
index c174e80b7bccf0dd29d7306180903e6e2815bb09..6ba629b2c913506870a85297cb45cd2bcd1a91ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3847,3 +3847,4 @@ dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/1
 dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/265cbab0a6145493bf7df5a6061df422.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/8b0d79295481587a9390c78f9c76eed9/8b0d79295481587a9390c78f9c76eed9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/accd2a5ee94f53a29de4dd44f32d3eab/accd2a5ee94f53a29de4dd44f32d3eab.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.urdf b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58cad115109d5aeeb98d7e918db5e95835a88677
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="washing_machine_34">
+   <link name="washing_machine_34">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/washing_machine_34.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_34_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 circular glass door and sleek design</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>20251024141757</generate_time>
+         <gs_model>mesh/washing_machine_34_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.681661367416382</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Major functional parts are mixed: front panel and body merged, door not separated from glass; top/side split is geometric only.","merge_groups":[]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dcd495cd131fcf08b027ccbcd81bf77ff709198e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/da50e797146353378f8d7c75cdefd790.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00aa03a4238c5befa3fc5c962b8b26faaff04e9c9e67c147a493dea45ddb270a
+size 372299
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/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/da50e797146353378f8d7c75cdefd790/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06a9d7d6489b00f3fb5359d73a2895a68c3a4896
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400901ab07848e6f50c12eff2422970786610a1c20e98f6fe74d6646745121e5
+size 1204522
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.glb b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6939659624a3e4d6d0e206afadd34ebcaf8f9d00
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d04b9ae8f414fe529ecbaeb2e508d9032f0894d3db2b311c8e028439d0cf15a7
+size 1468692
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39ca8c591b1abc5e90cfbe16ef794adc49a6171
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34.obj
@@ -0,0 +1,24256 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34_collision.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b396886e00296bdf16f08e4f48db01b37131637d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mesh/washing_machine_34_collision.obj
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34.obj
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08dff9da96f65afad9b4adaa34c2a7ad1631b18a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision.obj
@@ -0,0 +1,11395 @@
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_0.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86bea94196ea64c72294b106f1a5682d5728f04
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_0.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_1.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb2f9f8139a3d1ffeb3d3b9b81c0db06a892abe
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_1.obj
@@ -0,0 +1,736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_10.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b32238773bd324e62bc3cb514e8008bd5f7faf3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_10.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_11.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c552592dacf2d982a713672906f3180c85dac5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_11.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_12.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6649c2a61caba8043ccac606491ef8191936cb
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_12.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_13.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229bde828ea71cf89113f20e0796b089852d40ce
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.18382102 -0.12023160 0.11016018
+v 0.17175175 -0.12023128 0.02275203
+v 0.11405357 -0.03577899 0.02275234
+v 0.12398396 -0.03577931 0.11016049
+v -0.30129184 -0.12023160 0.11016018
+v -0.30017148 -0.12023128 0.02275203
+v 0.10906291 -0.03577085 0.05347441
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+v -0.30465289 -0.03577105 0.11016049
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+v -0.30129184 -0.12023154 0.09274530
+v -0.30098630 -0.12023145 0.06869822
+v -0.33418948 -0.08028282 0.02275218
+v -0.33138859 -0.05611699 0.02275226
+v -0.30450013 -0.03577090 0.06869853
+v -0.30465289 -0.03577101 0.09914676
+v -0.33138859 -0.05611699 0.02302610
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_14.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226d8b5a0894e7e2b259f0c865acd1402914b377
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_14.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.11910722 -0.04729777 0.02274374
+v 0.17769284 -0.04729750 -0.05068317
+v 0.10155178 0.00612094 0.02274393
+v -0.30864867 -0.04729777 0.02274374
+v 0.15578646 0.00612121 -0.05068298
+v -0.30864867 -0.04729750 -0.05068317
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+v -0.33414710 0.00449496 -0.03788214
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_15.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cb34a83366b9aa84da4187edcb0bc0d026dad0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.31955526 0.08959144 0.30808104
+v 0.32494908 0.08959147 0.30025432
+v 0.32418761 0.10047153 0.29884656
+v 0.31765155 0.10047150 0.30808108
+v -0.30847720 0.08959144 0.30808104
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+f 9 39 33
+f 9 33 28
+f 9 28 26
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+f 9 22 15
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+f 22 26 23
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+f 24 30 25
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+f 27 28 33
+f 27 33 37
+f 27 37 32
+f 29 34 31
+f 29 31 30
+f 29 35 34
+f 31 34 36
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+f 33 39 37
+f 34 35 36
+f 35 40 36
+f 36 40 41
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+f 48 52 54
+f 50 54 55
+f 50 55 51
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+f 52 55 54
+f 53 56 55
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_16.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427ad311628e33db3483ed66eacac8c55ece4834
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.25293591 0.14965083 -0.20524329
+v 0.31270981 0.14965083 -0.20524329
+v 0.25293591 0.08852575 -0.20524351
+v 0.25293591 0.14965009 -0.00399823
+v 0.33603228 0.11561445 -0.14445228
+v 0.33768296 0.10047529 -0.14445233
+v 0.33433050 0.08852557 -0.15646877
+v 0.31316077 0.08863346 -0.20524351
+v 0.33695120 0.14965054 -0.12544262
+v 0.33651726 0.14588671 -0.12922483
+v 0.31316077 0.08852575 -0.20524351
+v 0.25293591 0.08852527 -0.07280709
+v 0.28922568 0.08852527 -0.07349655
+v 0.30959561 0.08852528 -0.07676659
+v 0.31285447 0.09191214 -0.07546644
+v 0.31081235 0.14965019 -0.03104497
+v 0.33855086 0.13074756 -0.12922489
+v 0.33844874 0.08852553 -0.14445237
+v 0.33914645 0.14965050 -0.11401719
+v 0.31647066 0.08852529 -0.07978054
+v 0.31630902 0.14965021 -0.03459079
+v 0.33944426 0.14588666 -0.11401720
+v 0.33936770 0.11561439 -0.12922495
+v 0.33885716 0.08852552 -0.14124144
+v 0.33951233 0.14965048 -0.11021528
+v 0.31893821 0.08852530 -0.08143525
+v 0.31878504 0.14965021 -0.03630461
+v 0.33974207 0.13074751 -0.11401726
+v 0.33963146 0.10047523 -0.12922500
+v 0.33966550 0.08852547 -0.12922504
+v 0.33981014 0.14965044 -0.09880955
+v 0.32046977 0.08852530 -0.08263689
+v 0.32719170 0.14965025 -0.04507067
+v 0.32906360 0.08852533 -0.08945275
+v 0.33985270 0.14588660 -0.09880956
+v 0.33963146 0.08852546 -0.12603380
+v 0.33981865 0.14965043 -0.09500765
+v 0.32925080 0.14965026 -0.04816341
+v 0.32925932 0.08923741 -0.08925576
+v 0.32978684 0.08852533 -0.09057559
+v 0.33960593 0.13074745 -0.09880962
+v 0.33947831 0.10047518 -0.11401737
+v 0.33886568 0.08852542 -0.11401741
+v 0.33931664 0.14965039 -0.08358222
+v 0.33054413 0.14965027 -0.05046819
+v 0.33224587 0.08852535 -0.09500787
+v 0.33906137 0.14965037 -0.07978032
+v 0.33832112 0.08852541 -0.11080647
+v 0.33596421 0.14965032 -0.06455298
+v 0.33367534 0.08852536 -0.09806121
+v 0.33688313 0.10047512 -0.09880973
+f 1 2 8
+f 1 8 11
+f 1 11 3
+f 1 3 12
+f 1 12 4
+f 1 4 16
+f 1 16 21
+f 1 21 27
+f 1 27 33
+f 1 33 38
+f 1 38 45
+f 1 45 49
+f 1 49 47
+f 1 47 44
+f 1 44 37
+f 1 37 31
+f 1 31 25
+f 1 25 19
+f 1 19 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 9 10
+f 2 10 5
+f 3 11 7
+f 3 7 18
+f 3 18 24
+f 3 24 30
+f 3 30 36
+f 3 36 43
+f 3 43 48
+f 3 48 50
+f 3 50 46
+f 3 46 40
+f 3 40 34
+f 3 34 32
+f 3 32 26
+f 3 26 20
+f 3 20 14
+f 3 14 13
+f 3 13 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 10 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 11 8
+f 9 19 17
+f 9 17 10
+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 17 19 22
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+f 17 23 18
+f 18 23 24
+f 19 25 22
+f 20 26 21
+f 21 26 27
+f 22 25 28
+f 22 28 23
+f 23 29 24
+f 23 28 29
+f 24 29 30
+f 25 31 28
+f 26 32 27
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+f 27 34 33
+f 28 31 35
+f 28 35 30
+f 28 30 29
+f 30 35 36
+f 31 37 35
+f 33 34 39
+f 33 39 38
+f 34 40 39
+f 35 37 36
+f 36 37 41
+f 36 41 42
+f 36 42 43
+f 37 44 41
+f 38 39 40
+f 38 40 45
+f 40 46 45
+f 41 44 42
+f 42 44 47
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+f 43 47 48
+f 45 46 50
+f 45 50 49
+f 47 49 48
+f 48 51 50
+f 48 49 51
+f 49 50 51
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_17.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46d61ed4bebcf3f4c99d597b60ba3fb6c912d45
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_17.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.22002953 0.14964997 0.02859602
+v 0.14033869 0.08852489 0.02859580
+v 0.25292742 0.08852527 -0.07280477
+v 0.25292742 0.14965009 -0.00399866
+v -0.30562250 0.14964997 0.02859602
+v -0.30386503 0.08852489 0.02859580
+v 0.25292742 0.08852575 -0.20524351
+v 0.25292742 0.14965083 -0.20524329
+v -0.30562250 0.14965002 0.01754038
+v -0.30814889 0.08852490 0.02857290
+v -0.30155833 0.08852575 -0.20524351
+v -0.29694493 0.14965083 -0.20524329
+v -0.30551265 0.14965016 -0.02267650
+v -0.30803904 0.08852508 -0.02269961
+v -0.30249200 0.08852572 -0.19688883
+v -0.30661108 0.08852559 -0.15969336
+v -0.30348058 0.14965044 -0.09878415
+v -0.30540281 0.14965028 -0.05350868
+v -0.30787429 0.08852525 -0.06861598
+v -0.30683077 0.08852553 -0.14557053
+v -0.30534790 0.14965030 -0.06016953
+v -0.30479870 0.14965035 -0.07339967
+v -0.30435932 0.14965039 -0.08358551
+v -0.30776444 0.08852531 -0.08390618
+v -0.30754475 0.08852536 -0.09926504
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 23
+f 1 23 22
+f 1 22 21
+f 1 21 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 24
+f 2 24 25
+f 2 25 20
+f 2 20 16
+f 2 16 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
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+f 3 8 4
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+f 5 10 6
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+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 21 24
+f 18 24 19
+f 20 25 21
+f 21 25 24
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_18.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa6f7f67f7c39e84017edf1cfdf919399e88bd7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_18.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.27392926 0.32749212 0.17938289
+v 0.28505038 0.32545096 0.17938289
+v 0.28922085 0.32505276 0.16005221
+v 0.28922085 0.32532164 0.14482760
+v 0.28922085 0.32551088 0.12961067
+v 0.28922085 0.32567024 0.11438605
+v 0.28922085 0.32576988 0.10082998
+v 0.28749969 0.32589929 0.10082998
+v 0.27392926 0.32731297 0.16005222
+v -0.19938159 0.32481402 0.10082997
+v -0.21467317 0.32507259 0.17938288
+v 0.28955183 0.32434573 0.17938288
+v 0.28922085 0.32466438 0.17528454
+v 0.29828989 0.32171732 0.12961065
+v 0.29855463 0.32196628 0.11438603
+v 0.29881943 0.32215552 0.10082996
+v 0.29776029 0.32256374 0.10082996
+v 0.27392926 0.32661619 0.10082998
+v 0.27392926 0.32678543 0.11438605
+v 0.27392926 0.32714377 0.14482761
+v -0.20103652 0.32480406 0.10082997
+v -0.21467317 0.32471443 0.10082997
+v -0.27570712 0.32383823 0.10082997
+v -0.27570712 0.32415657 0.17938288
+v 0.29557578 0.32133877 0.17938287
+v 0.29762792 0.32107995 0.16005220
+v 0.29795890 0.32143846 0.14482759
+v 0.34833502 0.29456488 0.14482749
+v 0.34840126 0.29467452 0.11438593
+v 0.34840126 0.29470445 0.10082986
+v -0.27742823 0.32362913 0.10082997
+v -0.29099866 0.32232449 0.17938287
+v 0.29716451 0.32047254 0.17938287
+v 0.34807023 0.29416656 0.16005210
+v 0.29729688 0.32061194 0.17528453
+v 0.35230688 0.28211875 0.16005206
+v 0.35224069 0.28211881 0.14482745
+v 0.35164491 0.28350298 0.10082982
+v -0.29099866 0.32189666 0.10082996
+v -0.29099866 0.32230461 0.17528453
+v -0.29900856 0.32020382 0.14482759
+v -0.29907475 0.32025354 0.16005220
+v -0.29914093 0.32028337 0.17528453
+v -0.29914093 0.32029329 0.17938287
+v 0.33377164 0.26464437 0.17938266
+v 0.33502939 0.28211869 0.17572267
+v 0.34740826 0.28211871 0.17197803
+v 0.34615051 0.29244399 0.17009421
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+v 0.33992795 0.22578279 0.16352738
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+v 0.34085472 0.22578291 0.12961030
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+v -0.29874376 0.32005461 0.10082996
+v -0.29960434 0.31928794 0.10082995
+v -0.30675366 0.31352265 0.17528450
+v -0.30675366 0.31355251 0.17938284
+v -0.30119308 0.31849112 0.17938286
+v 0.34006038 0.22578297 0.11438568
+v -0.30251701 0.22578273 0.17938252
+v 0.33853783 0.22578302 0.10082961
+v -0.30728321 0.31220861 0.10082993
+v -0.30655505 0.31321414 0.12961062
+v -0.30893818 0.31151135 0.17938283
+v -0.31853676 0.25521522 0.17938263
+v -0.31860294 0.25522520 0.17528429
+v -0.31866918 0.25517547 0.16005196
+v -0.31873537 0.25513571 0.14482735
+v -0.31880155 0.25515565 0.12961041
+v -0.30251701 0.22578275 0.17528418
+v -0.30145787 0.22578302 0.10082961
+v -0.31436634 0.30546781 0.10082990
+v -0.31476351 0.30598527 0.17938281
+v -0.32231000 0.26382792 0.17938266
+v -0.32376636 0.26699428 0.16005200
+v -0.32389873 0.26699439 0.12961045
+v -0.32396492 0.26699445 0.11438583
+v -0.32336919 0.26571004 0.10082976
+v -0.31880155 0.25531504 0.11438579
+v -0.31873537 0.25550428 0.10082972
+v -0.30165643 0.22578297 0.11438568
+v -0.31860294 0.29726336 0.10082987
+v -0.31873537 0.29726331 0.11438594
+v -0.31926491 0.29726309 0.17528444
+v -0.31926491 0.29726307 0.17938278
+v -0.32363393 0.26699421 0.17938267
+v -0.32350156 0.28211868 0.17938273
+v -0.32350156 0.28211870 0.17528439
+v -0.32343538 0.28211881 0.14482745
+v -0.32336919 0.28211892 0.11438589
+v -0.32336919 0.28045617 0.10082981
+v -0.32389873 0.26699450 0.10082976
+v -0.31913254 0.29559061 0.10082987
+v -0.32330295 0.28211897 0.10082982
+f 1 2 3
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+f 1 6 7
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+f 1 9 10
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+f 1 11 24
+f 1 24 32
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+f 86 96 92
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+f 86 90 89
+f 86 89 87
+f 92 96 93
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_19.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca8fba946ae39b4dce173f78f5d8baf92f6056ce
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.30253787 0.22576187 0.17824452
+v -0.30253787 0.22576186 0.17938252
+v -0.30247119 0.22576189 0.17106280
+v -0.32940783 0.19911533 0.10082951
+v -0.32940783 0.19907150 0.14482714
+v -0.32934115 0.19902778 0.16005175
+v -0.32927447 0.19894039 0.17938242
+v 0.33800797 0.22576186 0.17938252
+v -0.30140436 0.22576215 0.10082961
+v -0.32994124 0.19825293 0.10082951
+v -0.33420842 0.19129917 0.11438555
+v -0.33414175 0.19129906 0.14482711
+v -0.33400839 0.19129893 0.17938239
+v 0.34227515 0.21118854 0.17938247
+v 0.33880809 0.22576188 0.17487665
+v 0.33854138 0.22576215 0.10082961
+v -0.33420842 0.19129922 0.10082948
+v -0.33814227 0.17615813 0.12961012
+v -0.33800892 0.17615802 0.16005167
+v -0.33787557 0.17615795 0.17938234
+v 0.34294192 0.20392916 0.17938244
+v 0.34274189 0.21453989 0.16919428
+v 0.34020826 0.22576193 0.16005185
+v 0.34007491 0.22576210 0.11438568
+v 0.33974152 0.22157022 0.11438566
+v 0.33807464 0.22157027 0.10082959
+v -0.33807560 0.17615824 0.10082943
+v -0.33334167 0.16525281 0.10082939
+v -0.33334167 0.16526366 0.11438546
+v -0.33334167 0.16528544 0.12961008
+v -0.33334167 0.16535089 0.14482702
+v -0.33327500 0.16547091 0.16005163
+v -0.33314164 0.16560186 0.17528396
+v -0.33307497 0.16566733 0.17938230
+v 0.34294192 0.19585106 0.17938241
+v 0.34300860 0.20624344 0.17467666
+v 0.34280856 0.21496566 0.16005181
+v 0.34087498 0.22576199 0.14542699
+v 0.34114169 0.22254161 0.16005184
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+v 0.32593982 0.20041438 0.10082952
+v 0.17305427 0.11425160 0.10082920
+v 0.30887104 0.14076713 0.17938221
+v 0.31833888 0.19307859 0.10082949
+v 0.30833762 0.18556814 0.10082946
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+f 35 52 36
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+f 42 53 43
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_2.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b4a02440f32419c1da0b72e155176d4bb30ae1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_2.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.18599393 -0.03197272 0.17955679
+v 0.12254225 -0.03197246 0.11017441
+v 0.11658242 0.02514326 0.10365912
+v 0.17885239 0.02514299 0.17612465
+v 0.17731106 0.00611746 0.17955693
+v -0.30610333 -0.03197272 0.17955679
+v 0.11190703 0.00611774 0.10365905
+v -0.30615472 -0.03197246 0.11017441
+v -0.30425373 0.02514326 0.10365912
+v -0.29171753 0.02514299 0.17612465
+v -0.32886373 0.00611746 0.17955693
+v -0.30615472 -0.03197269 0.17019585
+v -0.33287119 -0.01554133 0.17955685
+v -0.33338498 -0.01583757 0.16005490
+v -0.33359050 -0.01592697 0.14483223
+v -0.33369325 -0.01591574 0.12961699
+v -0.32983989 0.00611774 0.10365905
+v -0.30620608 -0.03197248 0.11299012
+v -0.33379599 -0.01589329 0.11017447
+v -0.30425373 0.02514322 0.11437961
+v -0.33420703 0.00501633 0.11017455
+v -0.33410426 0.00510570 0.12961707
+v -0.33405290 0.00515038 0.14483231
+v -0.30389408 0.02514299 0.17610237
+v -0.33395013 0.00483157 0.17955693
+v -0.30620608 -0.03197259 0.14483217
+v -0.33631351 -0.00827328 0.17955688
+v -0.33826588 -0.00549458 0.16005494
+v -0.33852276 -0.00549452 0.14483227
+v -0.33888241 -0.00549439 0.11017451
+v -0.30420234 0.02514317 0.12912681
+v -0.33405290 0.00506646 0.16005498
+v -0.30409957 0.02514311 0.14482496
+v -0.33400151 0.00490427 0.17527022
+v -0.33775209 -0.00549463 0.17527018
+v -0.33759796 -0.00549465 0.17955689
+f 1 2 3
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+f 1 4 5
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+f 1 11 25
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+f 1 36 27
+f 1 27 13
+f 1 13 6
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+f 25 28 35
+f 25 35 36
+f 27 36 35
+f 27 35 28
+f 28 34 29
+f 29 34 30
+f 30 34 32
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_20.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a839ff368043497606230bea268e73a7c6eae9f2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.33870434 -0.20688864 -0.00215219
+v 0.33930132 -0.20688862 -0.00744263
+v 0.34062793 -0.20228211 -0.02267762
+v 0.33963296 -0.12023085 -0.09877965
+v 0.33843905 -0.20528529 -0.00215218
+v -0.30847652 -0.20688864 -0.00215219
+v 0.34082692 -0.20688857 -0.02267764
+v 0.34149020 -0.20228205 -0.03789445
+v 0.34029624 -0.12660183 -0.09877968
+v 0.33790836 -0.20228218 -0.00215217
+v 0.34056158 -0.12023079 -0.11401465
+v 0.33459186 -0.12023090 -0.08341738
+v -0.33129401 -0.19713279 -0.00215215
+v -0.33195729 -0.19749733 -0.06834628
+v -0.33202364 -0.19752271 -0.08358129
+v -0.30847652 -0.20688862 -0.00744263
+v 0.34129121 -0.20688851 -0.03789447
+v 0.34109221 -0.20228199 -0.05312946
+v 0.34102586 -0.17200479 -0.08358119
+v 0.34102586 -0.14174463 -0.09877973
+v 0.33200505 -0.18713091 -0.00215212
+v 0.34069422 -0.12660177 -0.11401468
+v 0.33943396 -0.12023074 -0.12923149
+v 0.32915283 -0.12023094 -0.07369097
+v 0.32789257 -0.17892751 -0.00215209
+v 0.32948447 -0.18204938 -0.00215210
+v -0.33381453 -0.19064301 -0.00215213
+v -0.33514114 -0.18714788 -0.00215212
+v -0.33606976 -0.18714753 -0.09877990
+v -0.33613606 -0.18714747 -0.11401490
+v -0.33202364 -0.19748873 -0.09877994
+v -0.30834387 -0.20688857 -0.02267764
+v -0.33202364 -0.19744626 -0.11401494
+v 0.34062793 -0.20688845 -0.05312948
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+v 0.34089322 -0.15687893 -0.09877979
+v 0.34042893 -0.14174457 -0.11401473
+v 0.33910232 -0.12660172 -0.12923152
+v 0.33518884 -0.12023068 -0.14446650
+v 0.32709659 -0.12023095 -0.07129118
+v 0.32192285 -0.12023097 -0.06620072
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+v -0.33301855 -0.17240381 -0.00215206
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+v -0.33268692 -0.17616125 -0.18786285
+v -0.33441151 -0.18714720 -0.18786289
+v -0.33394718 -0.18856392 -0.18786289
+v -0.33122766 -0.19652130 -0.18786292
+v -0.30807853 -0.20688845 -0.05312948
+v -0.30728255 -0.20688835 -0.08181784
+v -0.30781324 -0.20688840 -0.06685553
+v 0.33883698 -0.20688840 -0.06834631
+v 0.33704609 -0.20228188 -0.08358130
+v 0.33969931 -0.17200474 -0.09877984
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+v 0.33770942 -0.14174452 -0.12923157
+v 0.31323367 -0.20688796 -0.18786296
+v 0.31429494 -0.12023052 -0.18786264
+v 0.31018247 -0.12023100 -0.05645614
+v 0.30447809 -0.16593950 -0.00215204
+v -0.30005263 -0.12023120 -0.00215187
+v -0.30005263 -0.12023118 -0.00744231
+v -0.29998628 -0.12023113 -0.02267732
+v -0.29985363 -0.12023105 -0.04429358
+v -0.29925665 -0.12023071 -0.13564910
+v -0.29912400 -0.12023068 -0.14437559
+v -0.29899136 -0.12023066 -0.15015690
+v -0.29706777 -0.12023052 -0.18786264
+v -0.30018527 -0.20688796 -0.18786296
+v 0.33671445 -0.18714753 -0.09877990
+v 0.19085499 -0.12023120 -0.00215187
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_21.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aaa193cc7f931361bbb03b1fd51e8eb69577c27
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.31922158 -0.12480924 0.29921253
+v 0.30901870 -0.15859096 0.29921241
+v 0.32489695 -0.14173808 0.28529696
+v 0.32655493 -0.12480920 0.28955308
+v -0.29410022 -0.12480924 0.29921253
+v 0.32693752 -0.15859086 0.27339839
+v -0.30793791 -0.15859096 0.29921241
+v 0.32897808 -0.14173805 0.27767302
+v 0.32681001 -0.12660163 0.28842430
+v 0.33063606 -0.12660160 0.28081887
+v 0.33069984 -0.12480917 0.28115197
+v -0.29971181 -0.12480915 0.27376861
+v 0.32865928 -0.15859085 0.26962344
+v -0.30079591 -0.12480912 0.26775457
+v -0.30921330 -0.15859091 0.28611110
+v 0.33018969 -0.15652724 0.26727336
+v 0.33382450 -0.14173801 0.26662573
+v 0.33605636 -0.12660155 0.26662578
+v 0.33541869 -0.12480913 0.26882785
+v 0.33038098 -0.15859084 0.26544136
+v -0.30187994 -0.12480906 0.25141494
+v -0.31182780 -0.15859080 0.25689222
+v -0.31061619 -0.15859086 0.27160343
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+v -0.30187994 -0.12480906 0.24960149
+v -0.31214660 -0.15859078 0.25141482
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+v -0.31144516 -0.15859026 0.11016860
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+v 0.32802156 -0.15859053 0.18141161
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_22.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eccbc424371b97b5972518bed4b7a94434148c05
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_22.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_23.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edffdc3ecae81a68967b1cb5cbd13b3505b9a660
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_23.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.25840230 -0.12023101 -0.05068344
+v 0.28920987 -0.12023101 -0.05189390
+v 0.17500945 -0.04373771 -0.05068316
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+v -0.33404553 -0.08036687 -0.09879880
+v -0.29978543 -0.12023100 -0.05311948
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_24.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5c1686b5134f30bb2ece0be935e82464c660fa
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_24.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.30627393 -0.15859157 0.46501033
+v -0.30627393 -0.12480985 0.46497799
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_25.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e35bb376dc934ddfabe0974ab1af8dddcd85f5b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_25.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_26.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c955d0e882bdcddb7f8ee5a2d0d46fcfbe2d62f3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_26.obj
@@ -0,0 +1,364 @@
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+f 94 96 103
+f 94 103 95
+f 94 104 96
+f 95 103 96
+f 96 104 105
+f 96 105 106
+f 96 106 107
+f 99 108 109
+f 99 109 101
+f 99 101 100
+f 101 109 102
+f 102 109 111
+f 102 111 110
+f 106 112 107
+f 107 112 113
+f 107 113 114
+f 108 115 109
+f 109 115 116
+f 109 116 117
+f 109 117 111
+f 110 111 117
+f 110 117 119
+f 110 119 118
+f 113 119 120
+f 113 120 121
+f 113 121 114
+f 113 122 119
+f 118 119 122
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_27.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83e809a6eb0cf617b36d3138f4e3727007771ec
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_27.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.12402235 -0.03577127 0.11015193
+v 0.11409477 -0.03577095 0.02276089
+v 0.11663332 0.02514326 0.10365815
+v 0.11500140 0.00611640 0.11015208
+v -0.29411469 -0.03577127 0.11015193
+v 0.10724971 0.02514353 0.02859631
+v -0.18654324 -0.03577095 0.02276089
+v 0.10158329 0.00611672 0.02276104
+v -0.30426894 0.02514326 0.10365815
+v -0.32988120 0.00611640 0.11015208
+v -0.30404229 -0.03576499 0.02276089
+v -0.30463160 -0.03576531 0.11015193
+v -0.30463160 -0.03576522 0.08391922
+v -0.30449559 -0.03576516 0.06869809
+v -0.30408761 0.02514353 0.02859631
+v -0.32611869 0.00611672 0.02276104
+v -0.30431429 0.02514328 0.09914058
+v -0.33423300 0.00501331 0.11015208
+v -0.33074249 0.00590174 0.11015208
+v -0.33373437 -0.01598685 0.02276096
+v -0.33377969 -0.01589773 0.11015200
+v -0.33387037 -0.01589764 0.08391929
+v -0.33387037 -0.01592143 0.06869816
+v -0.30417826 0.02514350 0.03775123
+v -0.33387037 0.00444121 0.02276104
+v -0.33432368 0.00485252 0.05347710
+v -0.33436903 0.00497172 0.06869824
+v -0.30435962 0.02514333 0.08391944
+v -0.33432368 0.00499546 0.09914051
+v -0.33899281 -0.00549285 0.09914047
+v -0.33758753 -0.00260100 0.11015205
+v -0.33908348 -0.00549280 0.08391933
+v -0.33903816 -0.00549274 0.06869820
+v -0.33382502 -0.01579605 0.02276096
+v -0.33518499 -0.01302373 0.11015201
+v -0.33382502 -0.01588577 0.09914043
+v -0.30431429 0.02514345 0.05298093
+v -0.33844885 -0.00549257 0.02276100
+v -0.33890215 -0.00549269 0.05347706
+v -0.33436903 0.00498955 0.08391937
+v -0.30440494 0.02514339 0.06819351
+v -0.30440494 0.02514339 0.06868975
+v -0.33885683 -0.00549289 0.11015204
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 31
+f 1 31 43
+f 1 43 35
+f 1 35 21
+f 1 21 12
+f 1 12 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 20
+f 2 20 34
+f 2 34 38
+f 2 38 25
+f 2 25 16
+f 2 16 8
+f 2 8 6
+f 3 6 15
+f 3 15 24
+f 3 24 37
+f 3 37 41
+f 3 41 42
+f 3 42 28
+f 3 28 17
+f 3 17 9
+f 3 9 10
+f 3 10 4
+f 5 11 7
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 6 8 16
+f 6 16 15
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 14 20
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 20
+f 13 20 14
+f 15 16 25
+f 15 25 26
+f 15 26 27
+f 15 27 24
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 20 23 32
+f 20 32 33
+f 20 33 34
+f 21 35 30
+f 21 30 32
+f 21 32 36
+f 21 36 22
+f 22 36 32
+f 22 32 23
+f 24 27 37
+f 25 38 26
+f 26 38 39
+f 26 39 33
+f 26 33 27
+f 27 33 32
+f 27 32 40
+f 27 40 41
+f 27 41 37
+f 28 42 29
+f 29 40 32
+f 29 32 30
+f 29 42 40
+f 30 35 43
+f 30 43 31
+f 33 39 34
+f 34 39 38
+f 40 42 41
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_28.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bf64eabb4aa1f532454ec303900e34faad0465
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_28.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.31748133 0.29945512 0.09914706
+v -0.31860753 0.29726616 0.09914705
+v -0.31748133 0.29945511 0.10082987
+v -0.31695135 0.29945536 0.03396317
+v -0.31860753 0.29726615 0.10082986
+v -0.31801131 0.29726641 0.02859657
+v -0.32331114 0.28212678 0.02859652
+v -0.31913751 0.29559583 0.10082986
+v 0.33499132 0.29945511 0.10082987
+v -0.31688511 0.29945537 0.02859658
+v -0.32437110 0.26698718 0.02859646
+v -0.32331114 0.28212652 0.10082981
+v 0.34843954 0.29470348 0.10082985
+v 0.34850584 0.29509263 0.05347801
+v 0.34843954 0.29524522 0.03824793
+v 0.34850584 0.29529863 0.02859656
+v 0.33499132 0.29945514 0.09180778
+v 0.30703482 0.29945537 0.02859658
+v -0.32337738 0.26569794 0.10082975
+v -0.32390736 0.26698692 0.10082975
+v -0.32337738 0.28045620 0.10082980
+v -0.31887254 0.25580595 0.02859642
+v -0.31887254 0.25576778 0.03824779
+v -0.31874006 0.25550826 0.10082971
+v 0.35168571 0.28350701 0.10082981
+v 0.35241441 0.28212678 0.02859652
+v 0.34360350 0.29663338 0.02859657
+v 0.33499132 0.29944754 0.08392405
+v 0.33499132 0.29887572 0.02859658
+v -0.29985948 0.22158355 0.02859629
+v -0.29985948 0.22154541 0.02862457
+v -0.30078695 0.22154521 0.08392376
+v -0.30098567 0.22154516 0.09914677
+v -0.30098567 0.22154515 0.10082958
+v 0.35208320 0.28212652 0.10082981
+v 0.33903243 0.22154541 0.02859629
+v -0.24176031 0.22154541 0.02859629
+v 0.33744244 0.22154515 0.10082958
+v 0.33803871 0.22158329 0.10082958
+v 0.33803871 0.22154515 0.10082251
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 12
+f 3 12 21
+f 3 21 20
+f 3 20 19
+f 3 19 24
+f 3 24 34
+f 3 34 38
+f 3 38 39
+f 3 39 35
+f 3 35 25
+f 3 25 13
+f 3 13 9
+f 4 10 6
+f 6 10 18
+f 6 18 29
+f 6 29 27
+f 6 27 16
+f 6 16 26
+f 6 26 36
+f 6 36 37
+f 6 37 30
+f 6 30 22
+f 6 22 11
+f 6 11 7
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 11 22 23
+f 11 23 24
+f 11 24 19
+f 13 25 26
+f 13 26 14
+f 14 26 16
+f 14 16 15
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 29
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 23
+f 23 33 24
+f 24 33 34
+f 25 35 26
+f 26 35 36
+f 27 29 28
+f 30 37 31
+f 31 37 36
+f 31 36 40
+f 31 40 38
+f 31 38 34
+f 31 34 33
+f 31 33 32
+f 35 39 40
+f 35 40 36
+f 38 40 39
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_29.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d558e2810bd77b364f2a44f38dbe72fffba29987
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_29.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.17173863 -0.12023128 0.02274347
+v 0.25844208 -0.12023101 -0.05068344
+v 0.11909933 -0.04729777 0.02274374
+v -0.30015177 -0.12023128 0.02274347
+v 0.17767801 -0.04729750 -0.05068317
+v -0.29980238 -0.12023101 -0.05068344
+v -0.30865323 -0.04729777 0.02274374
+v -0.33415769 -0.08029490 0.02274362
+v -0.33421591 -0.08028057 0.00778656
+v -0.30015177 -0.12023126 0.01661258
+v -0.30865323 -0.04729750 -0.05068317
+v -0.29986062 -0.12023104 -0.04428661
+v -0.33345892 -0.07990912 -0.05068329
+v -0.30888616 -0.04729777 0.02272218
+v -0.30888616 -0.04731205 0.02274374
+v -0.33421591 -0.08003789 0.02274362
+v -0.33642862 -0.06605230 0.02274367
+v -0.33607924 -0.06605203 -0.05068324
+v -0.33572988 -0.06825803 -0.05068325
+v -0.29997708 -0.12023112 -0.02265960
+v -0.30009353 -0.12023121 0.00138239
+v -0.33177028 -0.05582878 -0.05068321
+v -0.33142089 -0.05611461 0.02274370
+v -0.33246903 -0.05739225 -0.05068321
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 17
+f 1 17 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 21
+f 1 21 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 19
+f 2 19 18
+f 2 18 24
+f 2 24 22
+f 2 22 11
+f 2 11 5
+f 3 5 11
+f 3 11 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 9
+f 6 9 13
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 13
+f 9 12 20
+f 9 20 21
+f 9 21 10
+f 11 22 14
+f 14 22 23
+f 14 23 15
+f 17 24 18
+f 17 23 22
+f 17 22 24
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_3.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56fefa734999797557af10883f56fadf973aa6ca
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_3.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.30618238 -0.03198154 0.11016906
+v -0.33098932 -0.05653461 0.11016897
+v -0.33098932 -0.05652561 0.12960976
+v -0.30618238 -0.03198173 0.16005487
+v 0.12253998 -0.03198154 0.11016906
+v -0.33618420 -0.06604871 0.11016894
+v -0.33612582 -0.06604884 0.14483224
+v -0.33093094 -0.05658927 0.14483227
+v -0.30612400 -0.03198180 0.17955679
+v 0.18598739 -0.03198180 0.17955679
+v 0.26011639 -0.12479642 0.17955645
+v 0.18820542 -0.12479616 0.11016872
+v -0.33437474 -0.08011538 0.11016889
+v -0.33437474 -0.07992474 0.16005470
+v -0.33437474 -0.07981575 0.17527720
+v -0.33600907 -0.06604890 0.16005475
+v -0.33075584 -0.05678016 0.16005478
+v -0.33046399 -0.05719822 0.17955670
+v -0.30133773 -0.12479642 0.17955645
+v -0.30122098 -0.12479616 0.11016872
+v -0.30127936 -0.12479623 0.12780265
+v -0.30133773 -0.12479635 0.16005453
+v -0.33431636 -0.07978851 0.17955662
+v -0.33530865 -0.06989276 0.17955665
+v -0.33571724 -0.06604895 0.17527725
+v -0.33560048 -0.06604897 0.17955667
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 12
+f 1 12 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 26
+f 9 26 24
+f 9 24 23
+f 9 23 19
+f 9 19 11
+f 9 11 10
+f 11 19 22
+f 11 22 21
+f 11 21 20
+f 11 20 12
+f 13 20 21
+f 13 21 22
+f 13 22 19
+f 13 19 14
+f 14 19 15
+f 15 23 16
+f 15 19 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 24 26 25
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_30.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d70e0f3f0a0fd67300b4d960351a2a673899b13
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_30.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.24218503 0.08851771 -0.20887721
+v 0.31312765 0.08851771 -0.20887721
+v 0.24218503 0.00612985 -0.20887752
+v 0.24218503 0.08851719 -0.06775023
+v 0.31315627 0.08533157 -0.20887723
+v 0.33432264 0.08851751 -0.15647954
+v 0.33342558 0.08533139 -0.15968448
+v 0.33530557 0.07019119 -0.15968453
+v 0.33646027 0.05505099 -0.15968459
+v 0.33711872 0.03992692 -0.15968464
+v 0.33122116 0.03992696 -0.17261483
+v 0.33145019 0.02478677 -0.17301551
+v 0.33151698 0.00964657 -0.17331947
+v 0.30662886 0.00612985 -0.20887752
+v 0.24218503 0.00612946 -0.10357104
+v 0.28923199 0.00612945 -0.10123642
+v 0.30449125 0.00612945 -0.10053189
+v 0.28923199 0.08851721 -0.07349698
+v 0.31328987 0.07019137 -0.20887728
+v 0.33844522 0.08851747 -0.14446109
+v 0.33865513 0.08533133 -0.14446111
+v 0.33738592 0.02478672 -0.15968470
+v 0.33918001 0.07019113 -0.14446116
+v 0.31348072 0.00964670 -0.20887750
+v 0.31336621 0.05505117 -0.20887734
+v 0.33746226 0.00964652 -0.15968475
+v 0.33606900 0.00612968 -0.16287587
+v 0.33150745 0.00612972 -0.17333330
+v 0.31348072 0.00617018 -0.20887752
+v 0.31355707 0.00612983 -0.20536868
+v 0.31502670 0.00612946 -0.10307373
+v 0.30959673 0.08851722 -0.07675715
+v 0.33885555 0.08851746 -0.14125617
+v 0.33938042 0.05505093 -0.14446122
+v 0.33950446 0.03992686 -0.14446127
+v 0.33966671 0.08851741 -0.12925153
+v 0.33745273 0.00612967 -0.15968477
+v 0.33957128 0.02478666 -0.14446133
+v 0.33960945 0.00612961 -0.14446140
+v 0.31819499 0.00612946 -0.10386115
+v 0.31646769 0.08851723 -0.07976867
+v 0.31996996 0.00612946 -0.10463474
+v 0.33962853 0.08851740 -0.12604661
+v 0.33966671 0.08533127 -0.12925155
+v 0.33924682 0.00612957 -0.13278830
+v 0.31893933 0.08851724 -0.08144021
+v 0.32582937 0.00612947 -0.10720420
+v 0.33886510 0.08851736 -0.11402816
+v 0.33912275 0.00612955 -0.12925184
+v 0.32047575 0.08851724 -0.08262823
+v 0.32906445 0.08851727 -0.08945251
+v 0.33121161 0.00612950 -0.11304766
+v 0.33832115 0.08851735 -0.11080943
+v 0.33367370 0.08851730 -0.09805882
+v 0.33431308 0.00612951 -0.11817276
+v 0.32978018 0.08851727 -0.09057146
+v 0.33284345 0.00612950 -0.11482971
+v 0.33225180 0.08851729 -0.09500586
+f 1 2 5
+f 1 5 19
+f 1 19 25
+f 1 25 24
+f 1 24 29
+f 1 29 14
+f 1 14 3
+f 1 3 15
+f 1 15 4
+f 1 4 18
+f 1 18 32
+f 1 32 41
+f 1 41 46
+f 1 46 50
+f 1 50 51
+f 1 51 56
+f 1 56 58
+f 1 58 54
+f 1 54 53
+f 1 53 48
+f 1 48 43
+f 1 43 36
+f 1 36 33
+f 1 33 20
+f 1 20 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 30
+f 3 30 28
+f 3 28 27
+f 3 27 37
+f 3 37 39
+f 3 39 45
+f 3 45 49
+f 3 49 55
+f 3 55 57
+f 3 57 52
+f 3 52 47
+f 3 47 42
+f 3 42 40
+f 3 40 31
+f 3 31 17
+f 3 17 16
+f 3 16 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 5 13 19
+f 6 20 8
+f 6 8 7
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 22 12
+f 10 12 11
+f 10 21 23
+f 10 23 22
+f 12 22 13
+f 13 24 25
+f 13 25 19
+f 13 22 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 24
+f 14 29 30
+f 17 31 32
+f 17 32 18
+f 20 33 21
+f 21 33 23
+f 22 23 34
+f 22 34 35
+f 22 35 26
+f 23 33 36
+f 23 36 34
+f 26 37 27
+f 26 35 38
+f 26 38 39
+f 26 39 37
+f 28 30 29
+f 31 40 32
+f 32 40 42
+f 32 42 41
+f 34 36 35
+f 35 36 38
+f 36 39 38
+f 36 43 44
+f 36 44 39
+f 39 44 43
+f 39 43 45
+f 41 42 47
+f 41 47 46
+f 43 48 49
+f 43 49 45
+f 46 47 50
+f 47 51 50
+f 47 52 51
+f 48 53 49
+f 49 53 54
+f 49 54 55
+f 51 52 57
+f 51 57 56
+f 54 58 57
+f 54 57 55
+f 56 57 58
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_31.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bca6182d332e923e0b454101b2b26a09d1265b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.30009170 0.11425160 0.09914799
+v -0.30009170 0.11425158 0.10365944
+v -0.30004154 0.11425165 0.08392366
+v -0.33163887 0.07973720 0.02859577
+v -0.33178934 0.07964099 0.10365931
+v 0.17467048 0.11425158 0.10365944
+v -0.29989109 0.11425170 0.07005865
+v -0.33770756 0.07019487 0.02859574
+v -0.29928922 0.11425185 0.02859590
+v -0.33725617 0.07019460 0.10365928
+v 0.11664177 0.02514326 0.10365911
+v 0.10726288 0.02514353 0.02859557
+v 0.16403772 0.11425185 0.02859590
+v -0.33685493 0.06465612 0.02859572
+v -0.33550077 0.05506125 0.08392344
+v -0.33535029 0.05506120 0.09914777
+v -0.33530014 0.05506118 0.10365922
+v -0.30430468 0.02514326 0.10365911
+v -0.30410405 0.02514353 0.02859557
+v -0.33535029 0.05506145 0.02859568
+v -0.32983331 0.04673133 0.08392341
+v -0.32983331 0.04676618 0.09914774
+v -0.33369521 0.05261890 0.10365921
+v -0.32978315 0.04677488 0.10365919
+v -0.30440500 0.02514339 0.06869166
+v -0.30430468 0.02514345 0.05297505
+v -0.32933176 0.04735955 0.02859565
+v -0.33319366 0.05226156 0.02859567
+v -0.30440500 0.02514339 0.06819937
+f 1 2 6
+f 1 6 13
+f 1 13 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 23
+f 2 23 24
+f 2 24 18
+f 2 18 11
+f 2 11 6
+f 3 7 4
+f 4 8 5
+f 4 7 9
+f 4 9 13
+f 4 13 12
+f 4 12 19
+f 4 19 27
+f 4 27 28
+f 4 28 20
+f 4 20 14
+f 4 14 8
+f 5 8 10
+f 6 11 12
+f 6 12 13
+f 8 14 15
+f 8 15 10
+f 10 15 16
+f 10 16 17
+f 11 18 25
+f 11 25 29
+f 11 29 26
+f 11 26 19
+f 11 19 12
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 17
+f 18 24 22
+f 18 22 25
+f 19 26 21
+f 19 21 27
+f 20 28 21
+f 21 28 27
+f 21 26 29
+f 21 29 25
+f 21 25 22
+f 22 24 23
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_32.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02876952a6decc3bb10078a60fd14cbbfe687442
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_32.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.30010737 0.11425158 0.10365945
+v -0.33175944 0.07964099 0.10365932
+v -0.33204305 0.07974556 0.12961119
+v -0.33209976 0.07976295 0.14482900
+v -0.30010737 0.11425131 0.17613029
+v 0.17461670 0.11425158 0.10365945
+v -0.33340442 0.07683236 0.10365931
+v -0.33726168 0.07019460 0.10365929
+v -0.33731839 0.07019456 0.11437916
+v -0.33737513 0.07019450 0.12961116
+v -0.33209976 0.07972800 0.16005392
+v -0.33209976 0.07968433 0.17613016
+v 0.24211841 0.11425131 0.17613029
+v 0.11664467 0.02514326 0.10365912
+v -0.33527633 0.05506118 0.10365923
+v -0.33726168 0.07019445 0.14482897
+v -0.33521961 0.05506114 0.11437910
+v -0.33703478 0.07019439 0.16005389
+v -0.33669443 0.07019433 0.17613013
+v 0.17887101 0.02514299 0.17612996
+v -0.30430495 0.02514326 0.10365912
+v -0.33368806 0.05261890 0.10365922
+v -0.33000099 0.04647805 0.17613004
+v -0.33459563 0.05506091 0.17613007
+v -0.33436873 0.05457246 0.17613007
+v -0.33658098 0.06934825 0.17613012
+v -0.29171221 0.02514299 0.17612996
+v -0.30413479 0.02514311 0.14482880
+v -0.32977409 0.04677488 0.10365920
+v -0.30390789 0.02514299 0.17610869
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 14
+f 1 14 21
+f 1 21 29
+f 1 29 22
+f 1 22 15
+f 1 15 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 19
+f 5 19 26
+f 5 26 24
+f 5 24 25
+f 5 25 23
+f 5 23 27
+f 5 27 20
+f 5 20 13
+f 6 13 14
+f 8 15 9
+f 9 15 10
+f 10 16 12
+f 10 12 11
+f 10 15 17
+f 10 17 16
+f 12 16 18
+f 12 18 19
+f 13 20 14
+f 14 20 27
+f 14 27 30
+f 14 30 28
+f 14 28 21
+f 15 22 23
+f 15 23 17
+f 16 17 24
+f 16 24 18
+f 17 23 25
+f 17 25 24
+f 18 24 26
+f 18 26 19
+f 21 28 23
+f 21 23 29
+f 22 29 23
+f 23 28 30
+f 23 30 27
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_33.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904aebf7535bde31b078314b8cf91115090e816c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_33.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.30623368 -0.05115607 0.46493693
+v -0.30623368 -0.02580884 0.46490910
+v -0.31037646 -0.02580883 0.46359621
+v -0.31833833 -0.02580882 0.46105420
+v -0.31833833 -0.05115605 0.46105410
+v 0.21284166 -0.05115607 0.46485313
+v 0.22811811 -0.02580884 0.46488116
+v -0.32163960 -0.02580880 0.45334441
+v -0.32325787 -0.05115601 0.44954532
+v 0.22811811 -0.05115607 0.46482519
+v 0.23653308 -0.02580883 0.46228333
+v -0.32332258 -0.02580878 0.44934987
+v -0.32332258 -0.05115601 0.44934977
+v 0.24022275 -0.05115605 0.46094236
+v 0.24074058 -0.03577401 0.46091449
+v 0.24087006 -0.02580882 0.46091453
+v -0.32371096 -0.02580874 0.43932158
+v -0.32384044 -0.05115596 0.43437718
+v 0.24041694 -0.05115605 0.46085856
+v 0.24048168 -0.05091039 0.46085856
+v 0.24850826 -0.02580879 0.45275784
+v -0.32384044 -0.02580872 0.43412587
+v -0.32604128 -0.02580839 0.34297732
+v -0.32636494 -0.05115556 0.32680346
+v 0.24054639 -0.05115605 0.46071888
+v 0.24811988 -0.05091036 0.45147274
+v 0.24837881 -0.03577398 0.45222704
+v 0.26540298 -0.02580869 0.42499146
+v -0.32513505 -0.02580833 0.32752984
+v -0.31626694 -0.05115502 0.17956351
+v 0.24805515 -0.05115602 0.45144480
+v 0.28177983 -0.02880857 0.39647085
+v 0.28190931 -0.02580859 0.39663848
+v 0.32476101 -0.05115550 0.31104869
+v -0.30869345 -0.02580779 0.17956361
+v 0.19743576 -0.05115502 0.17956351
+v 0.32430789 -0.03577347 0.31395389
+v 0.32456682 -0.02580828 0.31428915
+v 0.32527886 -0.05115550 0.31001513
+v 0.32780337 -0.04791728 0.30562951
+v 0.18351866 -0.02580779 0.17956361
+v 0.19737103 -0.05097388 0.17956351
+v 0.30683061 -0.05115520 0.22956532
+v 0.32812701 -0.03577345 0.30632793
+v 0.32832119 -0.02580826 0.30669110
+v 0.32760915 -0.05115548 0.30529431
+v 0.33026314 -0.05115546 0.29903711
+v 0.30443558 -0.02580799 0.23448181
+v 0.31569871 -0.02580801 0.24034793
+v 0.31764063 -0.05115523 0.23738682
+v 0.33175193 -0.03577341 0.29710972
+v 0.32955109 -0.02580824 0.30353458
+v 0.33045732 -0.05115546 0.29847841
+v 0.32385477 -0.02580805 0.25168913
+v 0.32527886 -0.05090961 0.24741514
+v 0.32514941 -0.05115527 0.24719166
+v 0.33194612 -0.02580822 0.29710976
+v 0.33401751 -0.05115541 0.28520979
+v 0.33492375 -0.05115539 0.28163424
+v 0.32527886 -0.02580806 0.25428698
+v 0.32942162 -0.05090964 0.25504110
+v 0.32942162 -0.05115530 0.25498523
+v 0.32534360 -0.05115527 0.24749892
+v 0.32527886 -0.05115527 0.24738721
+v 0.33298180 -0.02580820 0.29191402
+v 0.33479427 -0.03577336 0.28188571
+v 0.33349966 -0.05115534 0.26666162
+v 0.33349966 -0.05090968 0.26666162
+v 0.32968054 -0.02580809 0.26261131
+v 0.33097515 -0.02580811 0.26579577
+v 0.33343492 -0.05115534 0.26643814
+v 0.33466482 -0.02580817 0.28188575
+v 0.33375859 -0.02580815 0.27669002
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 24
+f 1 24 30
+f 1 30 36
+f 1 36 43
+f 1 43 50
+f 1 50 56
+f 1 56 64
+f 1 64 63
+f 1 63 62
+f 1 62 71
+f 1 71 67
+f 1 67 59
+f 1 59 58
+f 1 58 53
+f 1 53 47
+f 1 47 46
+f 1 46 39
+f 1 39 34
+f 1 34 31
+f 1 31 25
+f 1 25 19
+f 1 19 14
+f 1 14 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 16
+f 2 16 21
+f 2 21 28
+f 2 28 33
+f 2 33 38
+f 2 38 45
+f 2 45 52
+f 2 52 57
+f 2 57 65
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+f 2 73 70
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+f 2 69 60
+f 2 60 54
+f 2 54 49
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+f 2 35 29
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+f 2 23 22
+f 2 22 17
+f 2 17 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 23 29 24
+f 24 29 30
+f 25 31 26
+f 26 32 33
+f 26 33 28
+f 26 28 27
+f 26 31 34
+f 26 34 32
+f 29 35 30
+f 30 35 41
+f 30 41 42
+f 30 42 36
+f 32 34 33
+f 33 34 37
+f 33 37 38
+f 34 39 40
+f 34 40 37
+f 36 42 43
+f 37 40 44
+f 37 44 38
+f 38 44 45
+f 39 46 40
+f 40 46 47
+f 40 47 44
+f 41 48 42
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 44 47 51
+f 44 51 45
+f 45 51 52
+f 47 53 51
+f 49 54 55
+f 49 55 56
+f 49 56 50
+f 51 57 52
+f 51 53 58
+f 51 58 59
+f 51 59 57
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 64
+f 55 64 56
+f 57 59 65
+f 59 66 65
+f 59 67 68
+f 59 68 66
+f 60 69 61
+f 61 69 70
+f 61 70 68
+f 61 68 62
+f 62 68 71
+f 65 66 72
+f 66 68 72
+f 67 71 68
+f 68 73 72
+f 68 70 73
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_34.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a31d1a5082330ba410cc88df93df538a6f1ecd
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_34.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.30099042 0.22152705 0.09914677
+v -0.30099042 0.22152704 0.10082958
+v -0.30079154 0.22152710 0.08392376
+v -0.32969378 0.19933708 0.02859621
+v -0.32962749 0.19926348 0.05347766
+v -0.32956122 0.19922142 0.06869360
+v -0.32942863 0.19911629 0.10082950
+v 0.33744418 0.22152704 0.10082958
+v -0.29986349 0.22152730 0.02862457
+v -0.30244878 0.21623441 0.02859627
+v -0.33426776 0.19129273 0.02859618
+v -0.33420149 0.19129247 0.10082947
+v -0.32995894 0.19825514 0.10082950
+v 0.33233991 0.20968106 0.10082954
+v 0.33804081 0.22152704 0.10082251
+v -0.24172758 0.22152730 0.02859629
+v -0.33817886 0.17615970 0.02859613
+v -0.33466550 0.18962269 0.10082947
+v 0.33154442 0.20786425 0.10082953
+v 0.33903516 0.22152730 0.02859629
+v 0.33233991 0.19822389 0.02859621
+v 0.33585324 0.20643627 0.02859624
+v 0.33731162 0.21198120 0.02859626
+v -0.33811257 0.17615944 0.10082942
+v -0.33360486 0.16525889 0.02859609
+v 0.32650641 0.20117463 0.10082951
+v 0.33048378 0.19438026 0.02859619
+v -0.33333971 0.16524812 0.10082938
+v -0.29926689 0.11425185 0.02859590
+v -0.29986349 0.11425171 0.06869329
+v -0.30006237 0.11425165 0.08392337
+v -0.30012864 0.11425160 0.09914638
+v -0.30012864 0.11425159 0.10051101
+v 0.32590981 0.20041851 0.10082951
+v 0.32624126 0.18959146 0.02859618
+v -0.30012864 0.11428310 0.10082919
+v 0.16403075 0.11425185 0.02859590
+v -0.27772279 0.11425159 0.10082919
+v 0.31828651 0.19307778 0.10082948
+v 0.32246277 0.18657745 0.02859617
+v 0.31517092 0.18203018 0.02859615
+v 0.17304613 0.11425159 0.10082919
+v 0.30834308 0.18556902 0.10082945
+f 1 2 8
+f 1 8 15
+f 1 15 20
+f 1 20 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 13
+f 2 13 12
+f 2 12 18
+f 2 18 24
+f 2 24 28
+f 2 28 36
+f 2 36 38
+f 2 38 42
+f 2 42 43
+f 2 43 39
+f 2 39 34
+f 2 34 26
+f 2 26 19
+f 2 19 14
+f 2 14 8
+f 3 9 4
+f 4 10 16
+f 4 16 20
+f 4 20 23
+f 4 23 22
+f 4 22 21
+f 4 21 27
+f 4 27 35
+f 4 35 40
+f 4 40 41
+f 4 41 37
+f 4 37 29
+f 4 29 25
+f 4 25 17
+f 4 17 11
+f 4 11 12
+f 4 12 5
+f 4 9 10
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 8 14 15
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 14 19 15
+f 15 19 21
+f 15 21 22
+f 15 22 23
+f 15 23 20
+f 17 24 18
+f 17 25 24
+f 19 26 27
+f 19 27 21
+f 24 25 28
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 28
+f 26 34 27
+f 27 34 35
+f 28 33 36
+f 29 37 42
+f 29 42 38
+f 29 38 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 33 38 36
+f 34 39 35
+f 35 39 40
+f 37 41 42
+f 39 43 40
+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_35.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ada94b59301596d90dfdbf629407ffb057cfb10
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_35.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.30627221 -0.12480655 0.46498839
+v -0.30627221 -0.09363978 0.46496058
+v -0.31831685 -0.11146242 0.46107697
+v -0.31831685 -0.12480653 0.46107692
+v 0.21281844 -0.12480655 0.46484872
+v 0.21281844 -0.11146244 0.46484877
+v -0.31616835 -0.09363977 0.46174758
+v 0.21281844 -0.09363978 0.46482085
+v -0.31831685 -0.09363976 0.46104911
+v -0.32333001 -0.12480649 0.44934253
+v 0.21464141 -0.12480655 0.46479285
+v 0.22811837 -0.11146244 0.46448556
+v 0.22811837 -0.09363978 0.46459737
+v 0.21555290 -0.09363978 0.46479297
+v -0.32326489 -0.09363972 0.44934265
+v -0.32339510 -0.09363971 0.44663257
+v -0.32678063 -0.09363932 0.34004517
+v -0.32378575 -0.12480643 0.43411575
+v 0.22811837 -0.12480655 0.46437372
+v 0.23020176 -0.09363977 0.46389889
+v 0.23977237 -0.09363976 0.46065796
+v -0.32678063 -0.09363932 0.33898348
+v -0.32378575 -0.12480643 0.43229972
+v 0.22948559 -0.12480654 0.46389877
+v 0.23938172 -0.12480653 0.46040638
+v 0.24738977 -0.09632745 0.44990142
+v 0.24738977 -0.09363972 0.44995730
+v -0.31213175 -0.09363873 0.17956336
+v -0.32365553 -0.12480610 0.34275513
+v 0.24693403 -0.12480649 0.44917490
+v 0.32642854 -0.09363917 0.30017616
+v 0.24810593 -0.09363972 0.44861624
+v -0.30132416 -0.12480550 0.17956324
+v 0.23065750 -0.09363873 0.17956336
+v 0.28183087 -0.12480624 0.38131099
+v 0.32564725 -0.09632691 0.30132167
+v 0.32942342 -0.09632688 0.29369429
+v 0.32948851 -0.09363915 0.29391781
+v 0.26008545 -0.12480550 0.17956324
+v 0.30787331 -0.09363885 0.21314608
+v 0.31275626 -0.11823724 0.19761188
+v 0.30468309 -0.12480554 0.19034771
+v 0.28521639 -0.12480622 0.37438212
+v 0.32844682 -0.10881372 0.29185027
+v 0.33072554 -0.12480587 0.28117751
+v 0.33137658 -0.11289868 0.28338474
+v 0.33391572 -0.09632684 0.28187607
+v 0.33326465 -0.09363911 0.28419503
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_36.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8b2610db510e2474a7b48829a0c253d1a68d85
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_36.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_37.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfada7a8fae07fd82c4cfc1745571a69f7b0c7d9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_37.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_38.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978cfa9bba94c5292324ab6634d1535582c13bed
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_38.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.33576371 0.22165693 -0.05943276
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+v -0.31039563 0.30736973 -0.05943244
+v -0.31317467 0.30362759 -0.17492095
+f 1 2 3
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+f 1 9 10
+f 1 10 18
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+f 1 28 27
+f 1 27 35
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_39.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206d66474e93fcef7e711f330229fd8f56880ffc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_39.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.30626994 -0.09363978 0.46496662
+v -0.30626994 -0.06605198 0.46493879
+v -0.31833973 -0.05115605 0.46105563
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+v -0.31616319 -0.09363977 0.46175390
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+v 0.21286431 -0.05115607 0.46485503
+v -0.30626994 -0.05115607 0.46491090
+v -0.30646779 -0.05115607 0.46485503
+v -0.32322044 -0.05115601 0.44954562
+v -0.31827376 -0.09363976 0.46105548
+v -0.32328640 -0.09363972 0.44934990
+v -0.31919714 -0.09363976 0.45898814
+v 0.21556848 -0.09363978 0.46479901
+v 0.22809998 -0.05115607 0.46482710
+v -0.32328640 -0.05115601 0.44935005
+v -0.33700510 -0.06605147 0.32754515
+v -0.33324562 -0.08261912 0.32690256
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_4.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf332213610c76119122412c49ee8561d4f4bb0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_40.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f557fde962c2dde2326b1bcdf9b5c5566921e496
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_40.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_41.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa4ede0c16b820e5e8cc3152ff7dcb5a7d7a7701
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_41.obj
@@ -0,0 +1,472 @@
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_42.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1088662aaf2a6d9d470db573eafb4c780720af
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_42.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.25876638 0.00612177 -0.20524691
+v 0.31360272 0.00612177 -0.20524691
+v 0.25876638 -0.04373715 -0.20524709
+v 0.25876638 0.00612142 -0.10838782
+v 0.31361856 -0.00537663 -0.20524695
+v 0.33150685 0.00612166 -0.17333475
+v 0.31344441 -0.04373715 -0.20524709
+v 0.25876638 -0.04373753 -0.10017017
+v 0.28922399 0.00612139 -0.10123810
+v 0.31361856 -0.00549376 -0.20524695
+v 0.33606597 0.00612162 -0.16287173
+v 0.33147518 -0.00549387 -0.17335658
+v 0.31349189 -0.03565020 -0.20524706
+v 0.33132478 -0.02062822 -0.17307326
+v 0.33107943 -0.03576746 -0.17268096
+v 0.33083404 -0.04373727 -0.17219054
+v 0.28922399 -0.04373755 -0.09395777
+v 0.30448443 0.00612139 -0.10051877
+v 0.31357105 -0.02062811 -0.20524701
+v 0.33745112 0.00612161 -0.15968923
+v 0.33741156 -0.00549392 -0.15968927
+v 0.33723744 -0.02062827 -0.15968933
+v 0.33692081 -0.03576750 -0.15968938
+v 0.33660422 -0.04373731 -0.15968941
+v 0.29408389 -0.04373756 -0.09391417
+v 0.30523636 -0.04373755 -0.09432833
+v 0.31502744 0.00612140 -0.10308002
+v 0.33960407 0.00612155 -0.14447428
+v 0.33961991 -0.00549398 -0.14447432
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+v 0.32466023 -0.04373752 -0.10286222
+v 0.32583166 0.00612141 -0.10721073
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+v 0.33284449 0.00612144 -0.11481820
+v 0.32851489 -0.04373751 -0.10548887
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+f 40 44 41
+f 41 44 43
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_43.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c1e96317c4807c8b4fe56e9d7e81bf34dce8bae
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_43.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.33498846 0.29945776 0.10082987
+v 0.33505235 0.29945776 0.10082280
+v 0.33498846 0.29946307 0.10082987
+v -0.31750763 0.29945776 0.10082987
+v 0.33498846 0.29945779 0.09180778
+v 0.30023977 0.32281112 0.02859667
+v 0.30004815 0.32276058 0.03824804
+v 0.29883450 0.32218322 0.09914714
+v 0.29877063 0.32215928 0.10082995
+v -0.31437767 0.30547623 0.10082989
+v -0.31437767 0.30546557 0.09914708
+v -0.31412218 0.30512272 0.03824797
+v -0.31693273 0.29945802 0.02859658
+v 0.30701065 0.29945802 0.02859658
+v 0.30534987 0.31240715 0.02859663
+v 0.30349746 0.31619695 0.02859664
+v 0.29627944 0.32397332 0.02859667
+v 0.28918918 0.32586403 0.08392415
+v 0.28918918 0.32578951 0.09914716
+v 0.28918918 0.32577621 0.10082997
+v 0.29909001 0.32235616 0.08392413
+v 0.29774860 0.32256618 0.10082995
+v -0.30728741 0.31221275 0.10082992
+v -0.29866412 0.31997331 0.06096588
+v -0.31405829 0.30507489 0.02859660
+v 0.28918918 0.32594403 0.02859668
+v 0.28918918 0.32590134 0.06869407
+v 0.27392276 0.32662461 0.10082997
+v 0.28752839 0.32589854 0.10082997
+v -0.30639314 0.31304250 0.10082992
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+v -0.29834474 0.31988558 0.05081249
+v -0.30626541 0.31230873 0.02859663
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+v -0.29099896 0.32175515 0.06869405
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+v -0.27573254 0.32384010 0.10082996
+v -0.27573254 0.32326325 0.02859667
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_44.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f15b9e5ed7d5f34bf137188f5755bc49ba355c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_44.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.32436203 0.21563540 0.34239443
+v -0.32982744 0.19939976 0.28685971
+v -0.33483741 0.19129176 0.28685968
+v -0.33516271 0.19129161 0.32754500
+v -0.32325593 0.21563534 0.35913266
+v -0.32000273 0.21563546 0.32608069
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+v -0.33698451 0.17615735 0.32754495
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+v -0.32338607 0.17615723 0.35913252
+v 0.28685225 0.21563534 0.35913266
+v 0.30454974 0.21563561 0.28685977
+v -0.33509767 0.17307110 0.28685962
+v -0.31850623 0.11426068 0.32774991
+v -0.32338607 0.11426062 0.34276900
+v -0.32338607 0.11426062 0.34413438
+v -0.32332103 0.11426056 0.35800039
+v -0.32325593 0.11426056 0.35913229
+v -0.32338607 0.17503581 0.35913251
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+v 0.32771269 0.11426083 0.28685940
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+v 0.29322858 0.21563542 0.33835491
+v 0.30389913 0.21563559 0.29112568
+v 0.32478479 0.13069515 0.28685946
+v -0.33171428 0.16666012 0.28685959
+v -0.29540843 0.11426083 0.28685940
+v 0.28938975 0.11426056 0.35913229
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+v 0.28893432 0.16103288 0.35913246
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+v 0.29563596 0.21563545 0.32999995
+v 0.30292316 0.21563557 0.29709654
+v 0.29745776 0.21563548 0.32239488
+f 1 2 3
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+f 27 38 36
+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_45.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7daf19d1ec7e5840f020fb9367d40cf92e4da538
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_45.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.17500563 -0.04373771 -0.05068316
+v 0.22001329 -0.04373762 -0.07619345
+v 0.25875848 0.00612142 -0.10839132
+v 0.15575007 0.00612121 -0.05068298
+v -0.30726103 -0.04373771 -0.05068316
+v 0.25875848 -0.04373753 -0.10017555
+v 0.25875848 0.00612177 -0.20525780
+v -0.32522897 0.00612121 -0.05068298
+v -0.33435925 -0.01661692 -0.05068306
+v -0.33441779 -0.01666083 -0.05311910
+v -0.33465190 -0.01697801 -0.06834054
+v -0.30731955 -0.04373770 -0.05311920
+v 0.25875848 -0.04373715 -0.20525798
+v -0.29830632 0.00612177 -0.20525780
+v -0.32517043 0.00612122 -0.05311902
+v -0.33394958 0.00443256 -0.05068298
+v -0.33909997 -0.00549432 -0.05068302
+v -0.33915852 -0.00549431 -0.05311906
+v -0.33465190 -0.01707068 -0.08357711
+v -0.30749514 -0.04373763 -0.07322784
+v -0.30737809 -0.04373769 -0.05802154
+v -0.30415907 -0.04373715 -0.20525798
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_46.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c1e19e9b16dc6b192b8f35a4b8897732deffda
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_46.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+v -0.31832392 0.08959088 0.46103317
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_47.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43a75cf1c178924e20d7abc67556228e95f94c5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_47.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.25864744 0.32971094 0.34276979
+v 0.25864744 0.32965503 0.35800118
+v 0.27391686 0.32925329 0.29709696
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_48.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0373f62fd60e752bd1391b219c4a564765b50d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.11063576 0.03267532 0.02859559
+v 0.10996743 0.03101177 0.02859558
+v 0.24218503 0.00612140 -0.10355350
+v 0.24218503 0.03267579 -0.09927628
+v -0.30807192 0.03267532 0.02859559
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+v 0.09882862 0.00746994 0.02859550
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+v 0.24218503 0.03267620 -0.20887742
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+v -0.30589986 0.03267605 -0.16975574
+v -0.32516997 0.00612122 -0.05313465
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_49.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3559067450ae3f0cc82cb562e8e1b557a0cd280
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_49.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_5.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e58a8c4f3cfccd1aeda5f929f0df3983452e0b1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_6.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e963cb7a7eafa907754bb6ff927200bd990dc2be
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_6.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_7.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9e5632aab0207a607b8d4eb5f43bda334c2fde
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_7.obj
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_8.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f858e2c7a3b616330fdd7c6389044d4982b94b6
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_9.obj b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b758f57b900f627b5df0488249d7e0299477f6e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/da50e797146353378f8d7c75cdefd790/mjcf/mesh/washing_machine_34_collision_9.obj
@@ -0,0 +1,286 @@
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