diff --git a/.gitattributes b/.gitattributes
index 7c5e7bc964f7e6543d305a96e1021de454edaee9..414295efa72ab28bab57ab7bd3192ff614285a87 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3846,4 +3846,4 @@ dataset/home_appliances/electrical_appliances/2ef7bbaf9014573e960f8029e500d274/2
 dataset/home_appliances/electrical_appliances/1f2b54d0fe835885919dc44870598ba2/1f2b54d0fe835885919dc44870598ba2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/265cbab0a6145493bf7df5a6061df422/265cbab0a6145493bf7df5a6061df422.usd filter=lfs diff=lfs merge=lfs -text
 dataset/home_appliances/electrical_appliances/8b0d79295481587a9390c78f9c76eed9/8b0d79295481587a9390c78f9c76eed9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/home_appliances/electrical_appliances/760f9604612551ab8d0b45c142a17029/760f9604612551ab8d0b45c142a17029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.urdf b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bed1403d1478886019bb561fab4235a3dc088e2e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="air_conditioner_2">
+   <link name="air_conditioner_2">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/air_conditioner_2.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/air_conditioner_2_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="30.0000" />
+         <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>0.800000</scale>
+         <version>v0.1.5</version>
+         <category>air_conditioner</category>
+         <description>rectangular air conditioner unit with vents and control panel</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>25.0</min_mass>
+         <max_mass>35.0</max_mass>
+         <generate_time>20251024112118</generate_time>
+         <gs_model>mesh/air_conditioner_2_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.644917845726013</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.usd b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ac7cfd5ae1d4be965d1d8433e5c649c9c1472b92
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/9e823722f9c25c4e88401bbc1493a979.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc13d88b1b6dc1df6d6dcc547872d5ccb1883896087a6bcc362c40b04b177e4
+size 837984
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.glb b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0627072318c25ec78f91bca9bbbc531006039fbd
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaf15ecaba3e7fe300f15eb1fa53a1cdac93534497071fdb0f0ab46f9b3b72d
+size 920604
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1bf7a07520b97563c71feb6875377382ec6dd3
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+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2.obj
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_collision.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2ba5dfb8acda728045a86bc465b194618f8100
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_collision.obj
@@ -0,0 +1,15262 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_gs.ply b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9129a046ac3e748181a739c13e8ddb476ced39b1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/air_conditioner_2_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 45452650
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/material.mtl b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/material_0.png b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0660aac83e544bd68cdc2ad0c7207e8575ba0b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2.obj
@@ -0,0 +1,53383 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6a79f35dd8e2835862b342dc7e36b0ef53dae5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision.obj
@@ -0,0 +1,15262 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_0.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea37046e926494298913e3e72a82e061337a1393
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_0.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_1.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa798c2463d6bd1f9dfe1670e93db32d75710d9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_1.obj
@@ -0,0 +1,388 @@
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_10.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2561ba91a03ca410c80cd0ceaee8da2a34512c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_10.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.13791201 -0.36443746 0.36168279
+v -0.13791201 -0.36442755 0.36285425
+v -0.14978223 -0.36438789 0.36285425
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+v -0.15174221 -0.28030227 0.36285456
+v -0.13791201 -0.33971183 0.25730118
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+v -0.15701620 -0.28112439 0.25730140
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_11.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab771a861331fac2c40adad6df76c461f354b05
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_11.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.13791199 -0.34274597 0.20943579
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+v -0.13791199 -0.36422723 0.20943571
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_12.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b133b3cf9e560cae89839c8796d55561de995d8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_12.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_13.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a1c389f9974378560848d4d929df911a9e70a6
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_13.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_14.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58062c45825101018705e97827732708655d9bc0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_15.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a978b494733b3b5ef4aec701283bf35de2456c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_15.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_16.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9087b36124f12576332cd8e1fe23d6af9449cd20
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_16.obj
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_17.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0334424b0281d20551812679cbc2bea69f739735
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_17.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_18.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec95d7c9c5a8982dde869b5a231bb22efe94eec0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_18.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_19.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851a8d20b54842239f42e2de6aff328fc6fc982a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_19.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_2.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b3ba0e3b76bf8602696b47cd64ada9f6d26010
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_2.obj
@@ -0,0 +1,535 @@
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_20.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dda81336951025f1503d6cab93e3252d0e39e9e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.08757980 -0.34825409 -0.38022168
+v -0.08757980 -0.34533252 -0.37969955
+v -0.04318911 -0.35414996 -0.38277427
+v -0.04318911 -0.35510163 -0.38277427
+v -0.08757980 -0.35976287 -0.37534863
+v -0.08757980 -0.33627646 -0.37790112
+v -0.03262246 -0.35351736 -0.38294830
+v -0.03262246 -0.35537629 -0.38294831
+v -0.00897256 -0.36069788 -0.37604478
+v -0.08757980 -0.36461833 -0.36281789
+v -0.00897256 -0.35582576 -0.38323837
+v -0.08353939 -0.33627646 -0.37795914
+v -0.00897256 -0.34589019 -0.38155597
+v -0.00897256 -0.35245471 -0.38323835
+v -0.08757980 -0.33627657 -0.34796649
+v -0.00897256 -0.36453510 -0.36281789
+v -0.08468610 -0.36461556 -0.36281789
+v -0.00897256 -0.36423202 0.20942070
+v -0.01476767 -0.36422922 0.20942070
+v -0.01960847 -0.36422645 0.20942070
+v -0.08757980 -0.36417373 0.20942070
+v -0.00897256 -0.33627646 -0.37853927
+v -0.00897256 -0.34383147 -0.38091781
+v -0.06693905 -0.33627744 -0.11214433
+v -0.08757980 -0.34355898 0.20942078
+v -0.00897256 -0.34079276 0.20942079
+v -0.00897256 -0.33627658 -0.34599406
+v -0.06073605 -0.33627758 -0.07257958
+v -0.03687836 -0.34136710 0.20942079
+v -0.05690343 -0.33627764 -0.05778631
+v -0.05701887 -0.33627764 -0.05813439
+v -0.06022042 -0.33627759 -0.07054913
+v -0.04565183 -0.33627758 -0.07257958
+v -0.04899191 -0.33627764 -0.05801836
+v -0.04904578 -0.33627764 -0.05778631
+v -0.01960847 -0.34084825 0.20942079
+v -0.03262246 -0.34120895 0.20942079
+v -0.03262246 -0.34108686 0.20448969
+f 1 2 3
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+f 1 21 25
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+f 29 37 38
+f 29 38 30
+f 30 38 36
+f 36 38 37
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_21.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca1690c49d748ddc45262578e8ee49893a517ec
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.16222095 -0.26946648 0.20942105
+v -0.17793790 -0.26946648 0.20942105
+v -0.16207510 -0.26946648 0.20936879
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+v -0.18253039 -0.20044580 0.20942130
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+v -0.18068158 -0.25588710 -0.32445738
+v -0.17953838 -0.26946452 -0.32325547
+v -0.16995525 -0.00626555 0.20942202
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+v -0.15292165 -0.25627439 -0.09895957
+v -0.15270090 -0.24313496 -0.09895952
+v -0.18368541 -0.18233398 0.20942137
+v -0.19111617 -0.05920871 -0.07256803
+v -0.19277184 -0.01981616 -0.07256788
+v -0.18935013 -0.00667615 -0.23086051
+v -0.18618861 -0.00626359 -0.32325450
+v -0.18595998 -0.00667581 -0.32445646
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+v -0.16038395 -0.00626447 -0.08573711
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+v -0.15250380 -0.24313491 -0.11212881
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+v -0.19272453 -0.00626451 -0.07256783
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+v -0.18879036 -0.06410483 0.20942180
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+v -0.15852725 -0.07234722 -0.32325475
+v -0.15858638 -0.07234722 -0.32445671
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_22.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea36465811f825a2a393a8c7ccbd167ae84d010
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_22.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.12372563 -0.28945031 -0.27049757
+v 0.12372563 -0.28894621 -0.25730473
+v 0.08993119 -0.28373386 -0.24872162
+v 0.08993119 -0.28385531 -0.27049755
+v 0.08993119 -0.28379676 -0.27822499
+v 0.12372563 -0.28933773 -0.28369038
+v 0.12372563 -0.28753738 -0.24872164
+v 0.08993119 -0.26796611 -0.24872156
+v 0.08993119 -0.28373824 -0.28369036
+v 0.08993119 -0.28143808 -0.28962098
+v 0.08993119 -0.27978162 -0.29383498
+v 0.12372563 -0.28355363 -0.29781904
+v 0.12372563 -0.26285725 -0.24872155
+v 0.08993119 -0.24346591 -0.28185595
+v 0.08993119 -0.26941984 -0.29745000
+v 0.12372563 -0.26941982 -0.30335390
+v 0.12372563 -0.24346594 -0.27608041
+v 0.08993119 -0.24346586 -0.29772798
+v 0.08993119 -0.26172277 -0.29753555
+v 0.08993119 -0.24858825 -0.29767454
+v 0.12372563 -0.25628529 -0.30310785
+v 0.12372563 -0.24346584 -0.30259441
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 8
+f 3 8 14
+f 3 14 18
+f 3 18 20
+f 3 20 19
+f 3 19 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 14
+f 14 17 22
+f 14 22 18
+f 15 19 16
+f 16 19 20
+f 16 20 18
+f 16 18 21
+f 18 22 21
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_23.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b716f0196433cd508984d3733ac14b87e1509e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.17967526 0.34808494 -0.27047633
+v -0.17963590 0.34808509 -0.30925403
+v -0.17762813 0.33363461 -0.30925408
+v -0.17763798 0.33363451 -0.28363696
+v -0.17763798 0.33363446 -0.26917657
+v -0.17966541 0.34808489 -0.25726159
+v -0.17485270 0.35914985 -0.24410097
+v -0.17512828 0.35834344 -0.30925399
+v -0.16033581 0.33363461 -0.30925408
+v -0.17718525 0.33363363 -0.04485088
+v -0.17942921 0.34808456 -0.16492087
+v -0.17471491 0.35920648 -0.15170608
+v -0.17474444 0.35921252 -0.16492083
+v -0.17482318 0.35917077 -0.23088623
+v -0.16279630 0.36391750 -0.19129614
+v -0.16279630 0.36390256 -0.20451087
+v -0.16279630 0.36386667 -0.23088621
+v -0.17482318 0.35902714 -0.30925399
+v -0.07912981 0.34551823 -0.30925404
+v -0.07912981 0.34021528 0.05972975
+v -0.07912981 0.33841541 0.24403209
+v -0.15156663 0.33363320 0.07278200
+v -0.17701793 0.33363340 0.01976054
+v -0.17639788 0.33363257 0.24403208
+v -0.17749035 0.34808305 0.24403213
+v -0.17747066 0.34814300 0.24403213
+v -0.17326815 0.35895312 0.24403217
+v -0.16279630 0.36377794 0.24403219
+v -0.16279630 0.36388701 -0.05936533
+v -0.16279630 0.36392039 -0.16492081
+v -0.16279630 0.36392043 -0.17808139
+v -0.14977539 0.36425576 -0.03293584
+v -0.14977539 0.36424982 -0.04615059
+v -0.14977539 0.36389994 -0.30925397
+v -0.15059227 0.36388793 -0.30925397
+v -0.16279630 0.36369303 -0.30925397
+v -0.07912981 0.36398090 -0.30925397
+v -0.07912981 0.36316324 0.24403218
+v -0.14807273 0.33363257 0.24403208
+v -0.14807273 0.33363257 0.24397791
+v -0.16272741 0.36378095 0.24403219
+v -0.14977539 0.36421276 0.24403219
+v -0.12375325 0.36426180 -0.04615059
+v -0.07912981 0.36423206 -0.11211598
+v -0.07912981 0.36422609 -0.11774850
+v -0.07912981 0.36351419 0.21202434
+v -0.08462162 0.36362202 0.24403219
+v -0.14970650 0.36421276 0.24403219
+v -0.07912981 0.36426483 -0.05178310
+v -0.07912981 0.36426488 -0.06499784
+v -0.07912981 0.36364018 0.19886375
+v -0.08470036 0.36362803 0.24403219
+v -0.09771143 0.36375696 0.24403219
+v -0.07912981 0.36425882 -0.04615059
+v -0.07912981 0.36424079 -0.03862251
+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 18
+f 2 18 36
+f 2 36 35
+f 2 35 34
+f 2 34 37
+f 2 37 19
+f 2 19 9
+f 2 9 3
+f 2 7 8
+f 3 9 22
+f 3 22 40
+f 3 40 39
+f 3 39 24
+f 3 24 23
+f 3 23 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 13 14
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 28 13
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+f 13 30 31
+f 13 31 14
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 19 37 45
+f 19 45 44
+f 19 44 50
+f 19 50 49
+f 19 49 54
+f 19 54 55
+f 19 55 51
+f 19 51 46
+f 19 46 38
+f 19 38 21
+f 19 21 20
+f 21 38 47
+f 21 47 52
+f 21 52 53
+f 21 53 48
+f 21 48 42
+f 21 42 41
+f 21 41 28
+f 21 28 27
+f 21 27 26
+f 21 26 25
+f 21 25 24
+f 21 24 39
+f 21 39 40
+f 21 40 22
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 32
+f 30 32 31
+f 32 43 33
+f 32 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 37
+f 33 37 34
+f 38 46 47
+f 42 48 49
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 46 51 52
+f 46 52 47
+f 48 53 54
+f 48 54 49
+f 51 55 52
+f 52 55 54
+f 52 54 53
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_24.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39e04e132829629e7ddde4713b6d6c291a6d468
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_24.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.17939016 -0.26946428 -0.38924623
+v -0.18369134 -0.27429933 -0.39709474
+v -0.18411640 -0.27380434 -0.38924625
+v -0.17907642 -0.26946449 -0.33317140
+v -0.17502823 -0.26946425 -0.39802985
+v -0.18547254 -0.28256579 -0.39812338
+v -0.18837712 -0.28256582 -0.38924628
+v -0.17519016 -0.26972194 -0.39807661
+v -0.17580751 -0.28256578 -0.40078854
+v -0.19096795 -0.29570126 -0.38924633
+v -0.18024027 -0.33874260 -0.33317165
+v -0.15710491 -0.26946449 -0.33317140
+v -0.16459405 -0.26946424 -0.39984665
+v -0.18667687 -0.29570123 -0.39853090
+v -0.17580751 -0.29570122 -0.40126953
+v -0.16279261 -0.26946424 -0.40014725
+v -0.14977770 -0.26946424 -0.40073507
+v -0.16279261 -0.28256578 -0.40120267
+v -0.18620121 -0.30882990 -0.39853094
+v -0.18949037 -0.30882993 -0.38924637
+v -0.18030099 -0.33874258 -0.33647801
+v -0.14844180 -0.33874260 -0.33317165
+v -0.08758750 -0.33874255 -0.34596299
+v -0.12686498 -0.26946441 -0.35298294
+v -0.17580751 -0.30882989 -0.40123617
+v -0.16279261 -0.29570122 -0.40134966
+v -0.14977770 -0.28256578 -0.40124943
+v -0.14973722 -0.26946424 -0.40073507
+v -0.14977770 -0.29570122 -0.40140313
+v -0.18452122 -0.31850687 -0.39762926
+v -0.18509809 -0.31931387 -0.38924641
+v -0.17961281 -0.33874249 -0.36286225
+v -0.18022003 -0.33874254 -0.34967014
+v -0.08758750 -0.33874243 -0.37839221
+v -0.08758750 -0.32643439 -0.35544790
+v -0.12682450 -0.26946441 -0.35302971
+v -0.17609088 -0.32252140 -0.39873140
+v -0.14977770 -0.30882989 -0.40128958
+v -0.14977770 -0.32197212 -0.40070185
+v -0.16279261 -0.32197212 -0.40054821
+v -0.13677291 -0.28256578 -0.40117596
+v -0.13677291 -0.26946424 -0.39971976
+v -0.13677291 -0.29570122 -0.40131630
+v -0.13677291 -0.30882989 -0.40122946
+v -0.17193137 -0.32977743 -0.39708824
+v -0.17465377 -0.33874244 -0.37515263
+v -0.17741665 -0.33874246 -0.37028990
+v -0.13245148 -0.33874242 -0.38000198
+v -0.14977770 -0.33081499 -0.39804344
+v -0.13677291 -0.32965538 -0.39696800
+v -0.13020474 -0.32858393 -0.39589262
+v -0.12502307 -0.32072435 -0.39697467
+v -0.11716959 -0.31550953 -0.39593263
+v -0.11596526 -0.30882990 -0.39706815
+v -0.11506454 -0.29570123 -0.39795648
+v -0.11626887 -0.28256579 -0.39682759
+v -0.08758750 -0.33510764 -0.37766413
+v -0.08758750 -0.32211465 -0.36120566
+v -0.12361632 -0.26946438 -0.36286200
+v -0.08758750 -0.32091436 -0.36286219
+v -0.13677291 -0.32197212 -0.39961977
+v -0.16279261 -0.33066578 -0.39788978
+v -0.13672232 -0.26946424 -0.39971311
+v -0.12374789 -0.28256578 -0.39943928
+v -0.12374789 -0.29570122 -0.40064164
+v -0.12374789 -0.30882989 -0.39971325
+v -0.16279261 -0.33874243 -0.37967468
+v -0.14924131 -0.33874242 -0.37991515
+v -0.11721007 -0.27594721 -0.39587907
+v -0.08758750 -0.33244936 -0.37659540
+v -0.12360621 -0.26946438 -0.36290876
+v -0.08758750 -0.32253506 -0.37057040
+v -0.11721007 -0.27594721 -0.39555174
+v -0.13637822 -0.26946424 -0.39962624
+v -0.12490162 -0.27071200 -0.39700789
+v -0.08758750 -0.32302331 -0.37276798
+v -0.12569102 -0.26946425 -0.39686090
+v -0.12382886 -0.26946428 -0.38924623
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 24
+f 1 24 36
+f 1 36 59
+f 1 59 71
+f 1 71 78
+f 1 78 77
+f 1 77 74
+f 1 74 63
+f 1 63 42
+f 1 42 28
+f 1 28 17
+f 1 17 16
+f 1 16 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 7 4
+f 4 7 10
+f 4 10 11
+f 4 11 22
+f 4 22 12
+f 5 13 8
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+f 6 9 14
+f 8 13 9
+f 9 15 14
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+f 9 16 17
+f 9 17 18
+f 9 18 15
+f 10 14 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 33
+f 11 33 32
+f 11 32 47
+f 11 47 46
+f 11 46 67
+f 11 67 68
+f 11 68 48
+f 11 48 34
+f 11 34 23
+f 11 23 22
+f 12 22 23
+f 12 23 24
+f 14 15 25
+f 14 25 19
+f 15 18 26
+f 15 26 25
+f 17 27 18
+f 17 28 27
+f 18 27 29
+f 18 29 26
+f 19 30 20
+f 19 25 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 23 34 57
+f 23 57 70
+f 23 70 76
+f 23 76 72
+f 23 72 60
+f 23 60 58
+f 23 58 35
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+f 23 36 24
+f 25 37 30
+f 25 26 29
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+f 25 39 40
+f 25 40 37
+f 27 28 41
+f 27 41 29
+f 28 42 41
+f 29 41 43
+f 29 43 44
+f 29 44 38
+f 30 32 31
+f 30 37 45
+f 30 45 46
+f 30 46 47
+f 30 47 32
+f 34 48 49
+f 34 49 50
+f 34 50 51
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 35 58 36
+f 36 58 60
+f 36 60 59
+f 37 40 45
+f 38 44 39
+f 39 44 61
+f 39 61 49
+f 39 49 40
+f 40 49 62
+f 40 62 45
+f 41 42 63
+f 41 63 64
+f 41 64 65
+f 41 65 43
+f 43 65 44
+f 44 65 66
+f 44 66 61
+f 45 62 67
+f 45 67 46
+f 48 68 49
+f 49 67 62
+f 49 61 50
+f 49 68 67
+f 50 61 51
+f 51 61 52
+f 52 61 66
+f 52 66 53
+f 53 66 54
+f 54 66 55
+f 55 66 65
+f 55 65 64
+f 55 64 56
+f 56 69 57
+f 56 64 69
+f 57 69 70
+f 59 60 71
+f 60 72 69
+f 60 69 73
+f 60 73 71
+f 63 74 64
+f 64 74 75
+f 64 75 69
+f 69 72 76
+f 69 76 70
+f 69 75 77
+f 69 77 78
+f 69 78 71
+f 69 71 73
+f 74 77 75
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_25.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03fa971ac76f8bacbffca9f9580e0274f71d1f8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_25.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05811905 0.11494756 -0.03375224
+v 0.05510435 0.24283134 -0.03874187
+v 0.04991446 0.11494756 -0.03375224
+v 0.06463754 0.11494760 -0.04425178
+v 0.06251392 0.21669124 -0.04391271
+v 0.06212085 0.22983641 -0.04400298
+v 0.06161218 0.24283136 -0.04407067
+v 0.05123238 0.24283134 -0.03874187
+v 0.04933641 0.11494757 -0.03666502
+v 0.04962633 0.24283137 -0.04610285
+v 0.06479406 0.11494761 -0.04592268
+v 0.06538988 0.24283139 -0.05068651
+v 0.06535431 0.24283139 -0.05059619
+v 0.04960854 0.24283137 -0.04619316
+v 0.04940756 0.22983642 -0.04619321
+v 0.04784596 0.12473764 -0.04619359
+v 0.04779972 0.11494761 -0.04619363
+v 0.06504306 0.11494763 -0.05084504
+v 0.06593057 0.24283142 -0.05937968
+v 0.06531340 0.20355861 -0.05048343
+v 0.04896469 0.24283142 -0.05924420
+v 0.04895936 0.24283142 -0.05937968
+v 0.04890066 0.24283217 -0.26442560
+v 0.04882952 0.11494841 -0.26442607
+v 0.06504306 0.11494765 -0.05646738
+v 0.06553039 0.17729333 -0.05937992
+v 0.06562466 0.19041347 -0.05937987
+v 0.06596970 0.24283147 -0.07258879
+v 0.06384429 0.24283217 -0.26442560
+v 0.06369667 0.11494841 -0.26442607
+v 0.06552328 0.17729338 -0.07258903
+f 1 2 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 24
+f 1 24 30
+f 1 30 25
+f 1 25 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 12
+f 2 12 19
+f 2 19 28
+f 2 28 29
+f 2 29 23
+f 2 23 22
+f 2 22 21
+f 2 21 14
+f 2 14 10
+f 2 10 8
+f 3 8 10
+f 3 10 9
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 7
+f 9 10 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 19
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 23 29 30
+f 23 30 24
+f 25 31 26
+f 25 30 31
+f 26 31 27
+f 27 31 28
+f 28 31 30
+f 28 30 29
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_26.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a00033199b1acb0f692a0db6bcacc7c6a29958c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.11400243 -0.30095265 -0.40096316
+v 0.11577671 -0.30095265 -0.40104923
+v 0.12359317 -0.30883764 -0.39932716
+v 0.11400243 -0.30919548 -0.39863831
+v 0.11400243 -0.30095289 -0.33436077
+v 0.12359317 -0.30095265 -0.40122147
+v 0.11638946 -0.31561126 -0.39609827
+v 0.11400243 -0.31255493 -0.39726070
+v 0.13617836 -0.30095265 -0.40079092
+v 0.13550168 -0.30910707 -0.39833696
+v 0.13041859 -0.31551023 -0.39596911
+v 0.14031304 -0.34395605 -0.38305342
+v 0.11400243 -0.34395605 -0.38283814
+v 0.11400243 -0.34395638 -0.29268598
+v 0.11503077 -0.34395661 -0.23090547
+v 0.11515331 -0.34395663 -0.22505032
+v 0.11531316 -0.34395666 -0.21768833
+v 0.12268738 -0.34395760 0.03860389
+v 0.13292283 -0.30095385 -0.07333275
+v 0.14176231 -0.30095265 -0.39971465
+v 0.14564123 -0.30490567 -0.39773425
+v 0.14365914 -0.34395605 -0.38279511
+v 0.16320295 -0.34395760 0.03860389
+v 0.14461289 -0.30095426 0.03860404
+v 0.14676547 -0.30095266 -0.39829390
+v 0.15881785 -0.34395609 -0.37349574
+v 0.14993575 -0.34395606 -0.37995363
+v 0.14577976 -0.34395606 -0.38214931
+v 0.16590435 -0.33511274 0.03860392
+v 0.16214265 -0.34395618 -0.34964458
+v 0.16499856 -0.33511132 -0.34964455
+v 0.16842991 -0.30095426 0.03860404
+v 0.16045361 -0.30095275 -0.37405527
+v 0.15991545 -0.33511122 -0.37439980
+v 0.16027245 -0.34395610 -0.36970712
+v 0.16766265 -0.32197810 0.03860397
+v 0.16204140 -0.34395614 -0.35851342
+v 0.16183360 -0.34395613 -0.36281869
+v 0.16435385 -0.33511127 -0.36281866
+v 0.16645847 -0.32197668 -0.34964450
+v 0.16701261 -0.30095284 -0.34964443
+v 0.16840860 -0.30324439 0.03860404
+v 0.16588304 -0.30095279 -0.36281854
+v 0.16576581 -0.30883778 -0.36281856
+v 0.16543014 -0.32197663 -0.36281861
+v 0.16796103 -0.31638326 0.03860399
+v 0.16686342 -0.30883783 -0.34964445
+v 0.16834999 -0.30883925 0.03860402
+v 0.16657570 -0.30095282 -0.35489686
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 5
+f 1 5 19
+f 1 19 24
+f 1 24 32
+f 1 32 41
+f 1 41 49
+f 1 49 43
+f 1 43 33
+f 1 33 25
+f 1 25 20
+f 1 20 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 7
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 7 13 8
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 12
+f 10 12 11
+f 12 22 28
+f 12 28 27
+f 12 27 26
+f 12 26 35
+f 12 35 38
+f 12 38 37
+f 12 37 30
+f 12 30 23
+f 12 23 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 18 23 29
+f 18 29 36
+f 18 36 46
+f 18 46 48
+f 18 48 42
+f 18 42 32
+f 18 32 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 30 31
+f 23 31 29
+f 25 33 34
+f 25 34 26
+f 26 34 35
+f 29 31 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 36
+f 32 42 41
+f 33 43 34
+f 34 43 44
+f 34 44 45
+f 34 45 39
+f 34 39 35
+f 35 39 38
+f 36 40 46
+f 39 45 40
+f 40 45 47
+f 40 47 48
+f 40 48 46
+f 41 47 49
+f 41 42 48
+f 41 48 47
+f 43 49 44
+f 44 49 47
+f 44 47 45
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_27.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24684b6152c5e8d0389ebbe926d8ea28c0422074
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_27.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.11693481 -0.00171890 -0.27991800
+v 0.06371436 -0.00171896 -0.26442650
+v 0.11693481 -0.00171884 -0.29761786
+v 0.11693481 0.02906543 -0.27976672
+v 0.04881263 -0.00171896 -0.26442650
+v 0.06384783 0.24283217 -0.26442560
+v 0.07152225 -0.00171884 -0.29701319
+v 0.07152225 0.05905987 -0.29730874
+v 0.07152225 0.07217792 -0.29736784
+v 0.11693481 0.06576252 -0.29781479
+v 0.11693481 0.24283223 -0.27989080
+v 0.04879261 0.00649181 -0.27049623
+v 0.04880596 -0.00171894 -0.27049626
+v 0.04879261 0.01360139 -0.26442644
+v 0.04877259 0.01963380 -0.27049618
+v 0.04890606 0.24283217 -0.26442560
+v 0.06663731 -0.00171884 -0.29645452
+v 0.05850910 0.07217792 -0.29588572
+v 0.05850910 0.08531991 -0.29592841
+v 0.05850910 0.09846191 -0.29596778
+v 0.07152225 0.08531991 -0.29738094
+v 0.11693481 0.07890451 -0.29784102
+v 0.11693481 0.24283229 -0.29799817
+v 0.04885935 -0.00171892 -0.27545194
+v 0.04887270 0.04591783 -0.28369045
+v 0.04878594 0.01963378 -0.26442642
+v 0.04877259 0.03277577 -0.26442637
+v 0.04876593 0.03277579 -0.27049613
+v 0.04879929 0.09846186 -0.28369026
+v 0.04885268 0.05905982 -0.28369040
+v 0.04888604 0.24283219 -0.27035075
+v 0.04889939 0.23691947 -0.26442562
+v 0.05850910 -0.00171884 -0.29552123
+v 0.05551941 -0.00171885 -0.29426588
+v 0.05055439 -0.00171886 -0.29217580
+v 0.05042093 0.08531989 -0.29239236
+v 0.05040758 0.09846189 -0.29242518
+v 0.05850910 0.11160389 -0.29597101
+v 0.07152225 0.12472195 -0.29741035
+v 0.07152225 0.13786393 -0.29738074
+v 0.07152225 0.22983393 -0.29708463
+v 0.07166907 0.24283229 -0.29702543
+v 0.04895278 -0.00171889 -0.28369063
+v 0.04877259 0.04591776 -0.26442632
+v 0.04876593 0.04591778 -0.27049608
+v 0.05041425 0.11160387 -0.29242185
+v 0.04878594 0.09242939 -0.26442615
+v 0.04879261 0.09846181 -0.27049589
+v 0.04888604 0.24283219 -0.27049536
+v 0.04891941 0.24283224 -0.28368973
+v 0.05046764 0.24283227 -0.29216504
+v 0.04955339 -0.00171888 -0.28687833
+v 0.05048766 0.24283227 -0.29226034
+v 0.05850910 0.24283229 -0.29561563
+v 0.05864924 0.24283229 -0.29563205
+v 0.07152225 0.24283229 -0.29702215
+f 1 2 5
+f 1 5 13
+f 1 13 24
+f 1 24 43
+f 1 43 52
+f 1 52 35
+f 1 35 34
+f 1 34 33
+f 1 33 17
+f 1 17 7
+f 1 7 3
+f 1 3 10
+f 1 10 22
+f 1 22 23
+f 1 23 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 16
+f 2 16 32
+f 2 32 47
+f 2 47 44
+f 2 44 27
+f 2 27 26
+f 2 26 14
+f 2 14 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 6
+f 5 12 13
+f 5 14 15
+f 5 15 12
+f 6 11 23
+f 6 23 42
+f 6 42 56
+f 6 56 55
+f 6 55 54
+f 6 54 53
+f 6 53 51
+f 6 51 50
+f 6 50 49
+f 6 49 31
+f 6 31 16
+f 7 17 18
+f 7 18 8
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 12 24 13
+f 12 15 30
+f 12 30 25
+f 12 25 24
+f 14 26 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 16 31 32
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 36 20
+f 19 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 23
+f 21 23 22
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 24 25 43
+f 25 30 36
+f 25 36 43
+f 27 44 45
+f 27 45 28
+f 28 45 29
+f 29 46 37
+f 29 37 30
+f 29 45 47
+f 29 47 48
+f 29 48 49
+f 29 49 50
+f 29 50 51
+f 29 51 46
+f 30 37 36
+f 31 47 32
+f 31 49 47
+f 35 52 36
+f 36 52 43
+f 37 46 38
+f 38 46 53
+f 38 53 54
+f 38 54 55
+f 38 55 40
+f 38 40 39
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 44 47 45
+f 46 51 53
+f 47 49 48
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_28.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f9a50323992a3af4ddab359eef5ee2ce52d509
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_28.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.07912981 0.34808464 -0.38067793
+v -0.05336054 0.35474068 -0.38269541
+v -0.05336054 0.35425726 -0.38269541
+v -0.04563388 0.34652262 -0.38198091
+v -0.01434949 0.34142582 -0.38269546
+v -0.07912981 0.33582041 -0.37676908
+v -0.07912981 0.35462052 -0.37773571
+v -0.04563388 0.35496981 -0.38282150
+v -0.00896486 0.34946223 -0.38353604
+v -0.07912981 0.35949657 -0.37542402
+v -0.00896486 0.34798405 -0.38353604
+v -0.00896486 0.34123022 -0.38282155
+v -0.01910224 0.33582042 -0.37887066
+v -0.07912981 0.33582031 -0.34907057
+v -0.00896486 0.35588636 -0.38336788
+v -0.00896486 0.36072048 -0.37601241
+v -0.00896486 0.35676934 -0.38206491
+v -0.07912981 0.36228245 -0.36827868
+v -0.00896486 0.33582042 -0.37920688
+v -0.06162292 0.33581930 -0.07258963
+v -0.05794159 0.33586357 0.04581212
+v -0.07912981 0.34259226 0.04581215
+v -0.07912981 0.36435860 -0.36285667
+v -0.00896486 0.36143022 -0.37361664
+v -0.00896486 0.33582031 -0.34873430
+v -0.05967236 0.33581925 -0.05909764
+v -0.04746767 0.33734733 0.04581213
+v -0.05729599 0.33581923 -0.05493654
+v -0.04802399 0.33581923 -0.05493654
+v -0.04698004 0.33581924 -0.05653373
+v -0.04621767 0.33581925 -0.05909764
+v -0.07912981 0.36397428 0.04581223
+v -0.00896486 0.36436694 -0.34965888
+v -0.00896486 0.36433346 -0.36285667
+v -0.07912981 0.36426525 -0.05182613
+v -0.05865588 0.36432141 -0.12538064
+v -0.00896486 0.34317346 0.04581215
+v -0.00896486 0.36397707 0.04581223
+v -0.00896486 0.36405537 0.03538851
+v -0.00896486 0.36407213 0.03295070
+v -0.07912981 0.36404699 0.03295070
+v -0.00896486 0.36427371 -0.07019375
+v -0.07912981 0.36425964 -0.04619395
+v -0.07167101 0.36427367 -0.05939173
+v -0.05865588 0.36430454 -0.09898508
+v -0.04563388 0.36430174 -0.09898508
+v -0.01961048 0.36427931 -0.07258952
+v -0.00896486 0.36410850 0.01975292
+v -0.07912981 0.36406376 0.02731853
+v -0.01961048 0.36427087 -0.05939173
+v -0.00896486 0.36426528 -0.05939173
+v -0.07912981 0.36422606 -0.03299617
+v -0.00896486 0.36413370 0.00899294
+v -0.00896486 0.36413930 0.00659717
+v -0.00896486 0.36417007 -0.00660061
+v -0.00896486 0.36419808 -0.01979839
+v -0.01961048 0.36425405 -0.04619395
+v -0.03262562 0.36427367 -0.05939173
+v -0.05865588 0.36428490 -0.07258952
+v -0.04563388 0.36428490 -0.07258952
+v -0.00896486 0.36426247 -0.05699596
+v -0.00896486 0.36424848 -0.04619395
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
+f 1 22 32
+f 1 32 41
+f 1 41 49
+f 1 49 52
+f 1 52 43
+f 1 43 35
+f 1 35 23
+f 1 23 18
+f 1 18 10
+f 1 10 7
+f 1 7 2
+f 2 8 9
+f 2 9 11
+f 2 11 3
+f 2 7 10
+f 2 10 8
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 19
+f 6 19 25
+f 6 25 31
+f 6 31 30
+f 6 30 29
+f 6 29 28
+f 6 28 26
+f 6 26 20
+f 6 20 14
+f 8 15 9
+f 8 10 15
+f 9 15 17
+f 9 17 16
+f 9 16 24
+f 9 24 34
+f 9 34 33
+f 9 33 42
+f 9 42 51
+f 9 51 61
+f 9 61 62
+f 9 62 56
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+f 9 54 53
+f 9 53 48
+f 9 48 40
+f 9 40 39
+f 9 39 38
+f 9 38 37
+f 9 37 25
+f 9 25 19
+f 9 19 12
+f 9 12 11
+f 10 16 17
+f 10 17 15
+f 10 18 16
+f 12 19 13
+f 14 20 21
+f 14 21 22
+f 16 18 23
+f 16 23 24
+f 20 26 21
+f 21 27 37
+f 21 37 38
+f 21 38 32
+f 21 32 22
+f 21 26 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 25
+f 21 25 27
+f 23 33 34
+f 23 34 24
+f 23 35 36
+f 23 36 33
+f 25 37 27
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 33 36 42
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 60
+f 36 60 46
+f 36 46 47
+f 36 47 42
+f 40 48 49
+f 40 49 41
+f 42 47 50
+f 42 50 51
+f 43 52 48
+f 43 48 53
+f 43 53 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 44 59 45
+f 44 58 60
+f 44 60 59
+f 45 59 60
+f 46 60 50
+f 46 50 47
+f 48 52 49
+f 50 61 51
+f 50 60 58
+f 50 58 57
+f 50 57 61
+f 56 62 57
+f 57 62 61
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_29.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0b68048097e3652f17abb36650b999125c51d8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05850240 -0.00171993 -0.00356546
+v 0.06796514 -0.00171991 -0.00750182
+v 0.06522161 0.07705863 0.00013811
+v 0.06425247 0.07705863 0.00013811
+v 0.05934811 0.07247969 -0.00245162
+v 0.05026373 -0.00171991 -0.00928872
+v 0.06750384 0.05902832 -0.00765697
+v 0.06714775 0.07247970 -0.00563695
+v 0.06522161 0.07986767 0.00013812
+v 0.06796514 -0.00171987 -0.01954394
+v 0.06752407 0.07217144 -0.01949187
+v 0.06425247 0.07986767 0.00013812
+v 0.05934811 0.08467501 -0.00328028
+v 0.05060565 0.08530308 -0.00975454
+v 0.05038714 0.07217140 -0.00923664
+v 0.04810694 0.07217144 -0.01980263
+v 0.04944836 -0.00171989 -0.01317327
+v 0.06684426 0.08467502 -0.00602536
+v 0.06621503 0.09406133 -0.01003936
+v 0.05850240 0.09484922 -0.00949553
+v 0.06370620 -0.00171897 -0.26442650
+v 0.06370822 0.09844709 -0.26442613
+v 0.06370013 0.11196700 -0.26442608
+v 0.06369608 0.11493590 -0.26442607
+v 0.06714572 0.08530311 -0.01954362
+v 0.05129963 0.09366167 -0.01143781
+v 0.04839829 0.08530311 -0.01980259
+v 0.04806445 -0.00171987 -0.01980291
+v 0.04745950 0.08530316 -0.03301010
+v 0.04735227 0.07217149 -0.03301014
+v 0.04729764 0.05902841 -0.03301019
+v 0.06504154 0.11493512 -0.05085305
+v 0.06479268 0.11493510 -0.04593262
+v 0.06463689 0.11493509 -0.04424930
+v 0.05812000 0.11493505 -0.03376100
+v 0.04991572 0.11493505 -0.03376100
+v 0.04881103 -0.00171897 -0.26442650
+v 0.06504154 0.11493514 -0.05647271
+v 0.04882924 0.11493590 -0.26442607
+v 0.04933708 0.11493506 -0.03666147
+v 0.04780143 0.11493510 -0.04619159
+v 0.04780143 -0.00171985 -0.02477515
+v 0.04732597 0.04590816 -0.03301024
+v 0.04881913 0.11159018 -0.26442608
+v 0.04880294 0.10553819 -0.26442610
+v 0.04878877 0.09844709 -0.26442613
+v 0.04878473 0.09240653 -0.26442615
+v 0.04877056 0.04590901 -0.26442632
+v 0.04877056 0.03276593 -0.26442637
+v 0.04877663 0.02672536 -0.26442639
+v 0.04879080 0.01358228 -0.26442644
+v 0.04880698 0.00045061 -0.26442649
+v 0.04751413 -0.00171980 -0.03795675
+v 0.04748985 -0.00171982 -0.03301042
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 28
+f 1 28 42
+f 1 42 54
+f 1 54 53
+f 1 53 37
+f 1 37 21
+f 1 21 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 11
+f 2 11 7
+f 3 9 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 7 11 8
+f 8 11 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 12
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 25 18
+f 11 24 25
+f 12 20 13
+f 13 20 26
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 16
+f 16 28 17
+f 16 27 29
+f 16 29 30
+f 16 30 31
+f 16 31 28
+f 18 25 19
+f 19 25 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 20 36 26
+f 21 37 52
+f 21 52 51
+f 21 51 50
+f 21 50 49
+f 21 49 48
+f 21 48 47
+f 21 47 46
+f 21 46 45
+f 21 45 44
+f 21 44 39
+f 21 39 24
+f 21 24 23
+f 21 23 22
+f 24 38 25
+f 24 39 41
+f 24 41 40
+f 24 40 36
+f 24 36 35
+f 24 35 34
+f 24 34 33
+f 24 33 32
+f 24 32 38
+f 25 38 32
+f 26 36 27
+f 27 36 40
+f 27 40 41
+f 27 41 29
+f 28 31 42
+f 29 41 39
+f 29 39 30
+f 30 39 31
+f 31 43 42
+f 31 39 44
+f 31 44 45
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 37
+f 31 37 43
+f 37 53 43
+f 42 43 54
+f 43 53 54
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_3.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d4010920ce3c4d196bf6a04882d7741545e3bd
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.16280079 0.36377505 0.24403219
+v -0.16280079 0.36384744 0.28369310
+v -0.15286751 0.36417381 0.28369310
+v -0.15286751 0.36410142 0.24405638
+v -0.16273128 0.36377505 0.24403219
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_30.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82236fce433ff1489b904bb0797a457328e4d459
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_30.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_31.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f1471c35d9624b637254acce7d2c86fbb39cdf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_31.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_32.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a6497cf7997f9fbf7cce94a8b685ed10852ff8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_32.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06162364 -0.29414925 -0.34967163
+v -0.06149282 -0.29414928 -0.33903728
+v -0.06153899 -0.29414924 -0.35122979
+v -0.08757980 -0.32091849 -0.36285619
+v -0.08757980 -0.32211860 -0.36119471
+v -0.08757980 -0.32643237 -0.35544564
+v -0.08757980 -0.33627243 -0.34801856
+v -0.07164289 -0.33625184 -0.33633028
+v -0.06179293 -0.31313236 -0.33633019
+v -0.04651012 -0.29414928 -0.33903728
+v -0.06082333 -0.29414920 -0.36285609
+v -0.08757980 -0.32253508 -0.37056849
+v -0.08757980 -0.33627232 -0.37789645
+v -0.07172754 -0.33627247 -0.33762393
+v -0.06768752 -0.33627247 -0.33633028
+v -0.04727195 -0.31313236 -0.33633019
+v -0.00897256 -0.33627244 -0.34601817
+v -0.00896487 -0.30148595 -0.35554887
+v -0.00896487 -0.30098277 -0.36285612
+v -0.04427849 -0.29414925 -0.34813001
+v -0.08757980 -0.32302996 -0.37276314
+v -0.06030005 -0.29414919 -0.36395962
+v -0.08757980 -0.33510933 -0.37766500
+v -0.05601378 -0.29414916 -0.37183724
+v -0.08731816 -0.33627232 -0.37790058
+v -0.03908418 -0.33627247 -0.33633028
+v -0.00897256 -0.33627232 -0.37854947
+v -0.00896487 -0.31313230 -0.35422220
+v -0.00896487 -0.30883915 -0.35439990
+v -0.00896487 -0.30158488 -0.36855149
+v -0.04632543 -0.29414916 -0.37180003
+v -0.04277791 -0.29414920 -0.36285609
+v -0.04278560 -0.29414920 -0.36262463
+v -0.08757980 -0.33245345 -0.37659452
+v -0.08353209 -0.33627232 -0.37795846
+v -0.00896487 -0.30176220 -0.36987819
+v -0.00896487 -0.30749053 -0.37130411
+v -0.00896487 -0.30883908 -0.37161409
+v -0.00896487 -0.31313223 -0.37255231
+f 1 2 10
+f 1 10 20
+f 1 20 33
+f 1 33 32
+f 1 32 31
+f 1 31 24
+f 1 24 22
+f 1 22 11
+f 1 11 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 16
+f 2 16 10
+f 3 11 4
+f 4 12 21
+f 4 21 34
+f 4 34 23
+f 4 23 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 4 11 12
+f 7 13 25
+f 7 25 35
+f 7 35 27
+f 7 27 17
+f 7 17 26
+f 7 26 15
+f 7 15 14
+f 7 14 8
+f 8 14 15
+f 8 15 26
+f 8 26 16
+f 8 16 9
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 11 22 21
+f 13 23 24
+f 13 24 25
+f 16 26 17
+f 17 27 39
+f 17 39 28
+f 17 28 29
+f 17 29 18
+f 18 29 28
+f 18 28 39
+f 18 39 38
+f 18 38 37
+f 18 37 36
+f 18 36 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 21 22 24
+f 21 24 34
+f 23 34 24
+f 24 31 27
+f 24 27 35
+f 24 35 25
+f 27 31 36
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 30 36 31
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_33.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187e90dbee07b03c6c55dfa07bc2077ee73ddefe
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_33.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.04905457 -0.33627350 -0.05781697
+v -0.05690627 -0.33627350 -0.05781697
+v -0.04899717 -0.33627350 -0.05798067
+v -0.05004959 -0.29557744 -0.00716623
+v -0.05038126 -0.29415051 -0.00454692
+v -0.05158676 -0.30276154 -0.01191372
+v -0.05072250 -0.33288768 -0.05015551
+v -0.05702107 -0.33627350 -0.05811164
+v -0.05488753 -0.33288768 -0.05015551
+v -0.05589849 -0.29557744 -0.00716623
+v -0.04565494 -0.33627344 -0.07261597
+v -0.04973068 -0.29415050 -0.00710074
+v -0.05529575 -0.29415051 -0.00454692
+v -0.05321323 -0.30276154 -0.01191372
+v -0.05641833 -0.29415050 -0.00710074
+v -0.05951499 -0.29570111 -0.01980432
+v -0.06022298 -0.33627345 -0.07055328
+v -0.03907253 -0.33627247 -0.33631332
+v -0.04722081 -0.29415041 -0.03146016
+v -0.04790648 -0.29415046 -0.01980431
+v -0.04800215 -0.29415046 -0.01826547
+v -0.05984985 -0.29415046 -0.01980431
+v -0.06073963 -0.33627344 -0.07261597
+v -0.06769198 -0.33627247 -0.33631332
+v -0.04630871 -0.31313235 -0.33903077
+v -0.04626088 -0.29857852 -0.33903072
+v -0.04651282 -0.29414928 -0.33903070
+v -0.06122438 -0.29415041 -0.03299900
+v -0.06693615 -0.33627330 -0.11220005
+v -0.07128297 -0.33627251 -0.32662194
+v -0.07165291 -0.33625184 -0.33631332
+v -0.06213966 -0.31313235 -0.33903077
+v -0.06150183 -0.29414928 -0.33903070
+v -0.06196107 -0.29415036 -0.04619370
+v -0.06727739 -0.33627325 -0.12536199
+v -0.06939499 -0.33627291 -0.21769209
+v -0.06151778 -0.29414929 -0.33644416
+v -0.06154967 -0.29539889 -0.33903071
+v -0.06204399 -0.30868248 -0.33903075
+v -0.06202805 -0.29415012 -0.11216715
+v -0.06200891 -0.29415007 -0.12536183
+v -0.06198659 -0.29415002 -0.13855653
+v -0.06789289 -0.33627315 -0.15178412
+f 1 2 8
+f 1 8 17
+f 1 17 23
+f 1 23 29
+f 1 29 35
+f 1 35 43
+f 1 43 36
+f 1 36 30
+f 1 30 24
+f 1 24 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 9
+f 1 9 2
+f 2 9 10
+f 2 10 8
+f 3 11 4
+f 4 12 5
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 5 12 21
+f 5 21 20
+f 5 20 19
+f 5 19 27
+f 5 27 33
+f 5 33 37
+f 5 37 42
+f 5 42 41
+f 5 41 40
+f 5 40 34
+f 5 34 28
+f 5 28 22
+f 5 22 15
+f 5 15 13
+f 6 14 9
+f 6 9 7
+f 8 10 15
+f 8 15 16
+f 8 16 17
+f 9 14 13
+f 9 13 10
+f 10 13 15
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 18 24 32
+f 18 32 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 22 28 29
+f 22 29 23
+f 24 30 31
+f 24 31 32
+f 25 32 39
+f 25 39 38
+f 25 38 33
+f 25 33 27
+f 25 27 26
+f 28 34 29
+f 29 34 35
+f 30 36 31
+f 31 37 33
+f 31 33 38
+f 31 38 39
+f 31 39 32
+f 31 36 34
+f 31 34 40
+f 31 40 41
+f 31 41 42
+f 31 42 37
+f 34 36 43
+f 34 43 35
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_34.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d5097a91393a5d36159facde40ccb46b5909a3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_34.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.15286366 0.34354101 0.24403211
+v -0.15286366 0.33384558 0.24403208
+v -0.15286366 0.36410974 0.24405638
+v -0.14977696 0.36421203 0.24403219
+v -0.14809028 0.33361001 0.24403208
+v -0.15286366 0.33270493 0.24404418
+v -0.15286366 0.36411593 0.24723846
+v -0.14971030 0.36421203 0.24403219
+v -0.15286366 0.36418088 0.28369310
+v -0.14977696 0.36428007 0.28369310
+v -0.08476299 0.34089710 0.24403210
+v -0.14850362 0.33270493 0.24404418
+v -0.15286366 0.33270448 0.36763669
+v -0.09771645 0.36375640 0.24403219
+v -0.09771645 0.36409999 0.36763681
+v -0.15286366 0.36419323 0.29689325
+v -0.14977696 0.36436656 0.36285766
+v -0.08476299 0.36351773 0.24403219
+v -0.08476299 0.34089400 0.24410470
+v -0.08476299 0.33661614 0.36761253
+v -0.13031677 0.33270448 0.36763669
+v -0.15286366 0.36362885 0.36763681
+v -0.08476299 0.36362930 0.24404430
+v -0.08476299 0.36398221 0.36763681
+v -0.10242983 0.36411859 0.36763681
+v -0.15286366 0.36420864 0.32326933
+v -0.15286366 0.36420850 0.36285766
+v -0.14977696 0.36418987 0.36763681
+v -0.13676350 0.36423326 0.36763681
+v -0.08476299 0.33697259 0.36763671
+f 1 2 6
+f 1 6 13
+f 1 13 22
+f 1 22 27
+f 1 27 26
+f 1 26 16
+f 1 16 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 11 12
+f 5 12 6
+f 6 12 21
+f 6 21 13
+f 8 10 15
+f 8 15 14
+f 9 16 17
+f 9 17 10
+f 10 17 15
+f 11 18 23
+f 11 23 24
+f 11 24 30
+f 11 30 20
+f 11 20 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 13 21 30
+f 13 30 24
+f 13 24 15
+f 13 15 25
+f 13 25 29
+f 13 29 28
+f 13 28 22
+f 14 23 18
+f 14 15 24
+f 14 24 23
+f 15 17 25
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 25
+f 20 30 21
+f 22 28 27
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_35.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e1979049c25dd129c60a5a3bb37d52f319dfd1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.16797365 -0.00623875 0.24400245
+v -0.16173623 0.26898083 0.24400346
+v -0.19037373 -0.00623875 0.24400245
+v -0.17323790 -0.00623768 -0.04585708
+v -0.16256713 0.26898190 -0.04585607
+v -0.17823750 0.26898083 0.24400346
+v -0.19080625 0.01962624 0.24400254
+v -0.18916438 -0.00623768 -0.04585708
+v -0.17810377 0.26898190 -0.04585607
+v -0.18255419 0.21401775 0.24400326
+v -0.17823466 0.26898088 0.23089384
+v -0.18261394 0.22684354 -0.04585623
+v -0.18260825 0.22670859 0.01980555
+v -0.18259687 0.22660077 0.03300033
+v -0.18242330 0.22466035 0.17811454
+v -0.18240338 0.22441783 0.19130931
+v -0.18235215 0.22366338 0.20450407
+v -0.18232655 0.22325920 0.21111565
+v -0.19068675 0.07219142 0.24400274
+v -0.18921275 0.03277534 -0.04585694
+v -0.18921560 0.01962731 -0.04585699
+v -0.18918998 0.00650622 -0.04585704
+v -0.18263387 0.21528411 0.23089364
+v -0.18987007 0.09846055 0.24400283
+v -0.18335663 0.21668613 -0.04585626
+v -0.18335094 0.21668589 0.01980552
+v -0.18294118 0.21668531 0.17811451
+v -0.18289281 0.21668526 0.19130929
+v -0.19037657 0.08533946 0.24400278
+v -0.18834201 0.11128634 -0.04585665
+v -0.18862372 0.09846162 -0.04585670
+v -0.18880584 0.08534053 -0.04585675
+v -0.18892820 0.07219249 -0.04585679
+v -0.18893104 0.07186918 -0.04585680
+v -0.18904487 0.05872115 -0.04585684
+v -0.18915015 0.04560006 -0.04585689
+v -0.18514079 0.19041691 -0.01977893
+v -0.18518347 0.19041701 -0.04585636
+v -0.18589201 0.17726898 -0.04585641
+v -0.18590624 0.17694567 -0.04585641
+v -0.18762778 0.13785178 -0.03297390
+v -0.18337939 0.21636282 -0.04585627
+v -0.18427859 0.20353800 -0.01977888
+v -0.18426436 0.20353795 -0.00658409
+v -0.18417046 0.20353781 0.03300025
+v -0.18805462 0.12473069 -0.03297395
+v -0.18799201 0.12473074 -0.04585660
+v -0.18429850 0.20321478 -0.04585631
+v -0.18703306 0.15067655 -0.04585651
+v -0.18756803 0.13785183 -0.04585655
+f 1 2 6
+f 1 6 10
+f 1 10 24
+f 1 24 29
+f 1 29 19
+f 1 19 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 11
+f 2 11 6
+f 3 7 8
+f 4 8 22
+f 4 22 21
+f 4 21 20
+f 4 20 36
+f 4 36 35
+f 4 35 34
+f 4 34 33
+f 4 33 32
+f 4 32 31
+f 4 31 30
+f 4 30 47
+f 4 47 50
+f 4 50 49
+f 4 49 40
+f 4 40 39
+f 4 39 38
+f 4 38 48
+f 4 48 42
+f 4 42 25
+f 4 25 12
+f 4 12 9
+f 4 9 5
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 10
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 9 12 11
+f 10 23 24
+f 10 18 23
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 15
+f 15 27 16
+f 15 26 27
+f 16 28 17
+f 16 27 28
+f 17 28 18
+f 18 28 24
+f 18 24 23
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 24 28 27
+f 24 27 37
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 29
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 45
+f 26 45 27
+f 27 45 37
+f 29 41 46
+f 29 46 30
+f 30 46 47
+f 37 45 44
+f 37 44 38
+f 38 44 43
+f 38 43 48
+f 40 49 41
+f 41 49 50
+f 41 50 46
+f 42 48 43
+f 46 50 47
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_36.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8693569c5ecd7fd12ef0992fe8177586926f9b78
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_36.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.19119104 -0.00172006 0.03557395
+v 0.19116584 0.00649069 0.03557398
+v 0.17673948 -0.00172006 0.03557395
+v 0.19266937 -0.00171991 -0.00661528
+v 0.19049386 0.07217670 0.03557423
+v 0.19262738 0.00649084 -0.00661525
+v 0.15454768 0.19040674 0.03557466
+v 0.15038146 0.16575089 -0.05937992
+v 0.15038146 0.15325537 -0.09904013
+v 0.16560157 -0.00171908 -0.23089637
+v 0.19297176 -0.00171986 -0.01980659
+v 0.19029228 0.08531870 0.03295899
+v 0.19023348 0.08531869 0.03557427
+v 0.19292975 0.00649089 -0.01980656
+v 0.15362792 0.20096343 0.03557470
+v 0.15038146 0.17853377 -0.04552755
+v 0.15342212 0.20354872 0.03557471
+v 0.15038146 0.14035296 -0.15171922
+v 0.16461463 -0.00171898 -0.25802625
+v 0.16463982 -0.00171898 -0.25727902
+v 0.16509340 -0.00171903 -0.24408769
+v 0.16540419 -0.00171906 -0.23583955
+v 0.19311874 -0.00171981 -0.03299790
+v 0.19309356 0.00649094 -0.03299787
+v 0.19038887 0.08531875 0.01976768
+v 0.18964551 0.09846075 0.01976773
+v 0.18935992 0.09846070 0.03295904
+v 0.18927592 0.09846069 0.03557432
+v 0.15038146 0.19028732 -0.03696321
+v 0.15313234 0.21410542 0.03557475
+v 0.15038146 0.12855174 -0.21770458
+v 0.15038146 0.12723530 -0.25802577
+v 0.18570188 -0.00171898 -0.25802625
+v 0.15038146 0.12637343 -0.23089590
+v 0.19319435 -0.00171976 -0.04618922
+v 0.19328255 0.00649104 -0.05938051
+v 0.19037628 0.08531889 -0.01980627
+v 0.18969171 0.09846080 0.00657641
+v 0.17214488 0.24283107 0.03554610
+v 0.18781019 0.11160268 0.03295909
+v 0.18813357 0.11160278 0.00657646
+v 0.18897773 0.10104599 0.03557433
+v 0.15307774 0.21669072 0.03557476
+v 0.15266196 0.24038939 0.03557484
+v 0.15038146 0.24283128 -0.02184618
+v 0.15038146 0.24283215 -0.25802535
+v 0.18578588 0.00577362 -0.25802622
+v 0.18584048 0.00649177 -0.25727899
+v 0.18574808 -0.00171898 -0.25727902
+v 0.19324895 -0.00171971 -0.05938054
+v 0.19319435 0.00649109 -0.07260056
+v 0.18961191 0.09846089 -0.01980622
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_37.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a9e39de6cd1406a5a89dd677742b6bde815a0e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_37.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.12376074 -0.33743849 0.36046699
+v 0.12376074 -0.33743851 0.36458319
+v 0.12376074 -0.33601526 0.36455130
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+v 0.16546079 -0.33511579 0.36282821
+v 0.16753374 -0.32117475 0.36458325
+v 0.14082204 -0.32117363 0.05937653
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+v 0.16558350 -0.33339487 0.36458321
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_38.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebec09cb937439b7131a0cfbe1d6865c0b27dba8
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_38.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.11693481 0.21468174 -0.36292562
+v 0.11693481 0.22259653 -0.36957763
+v 0.11693481 0.21704070 -0.35347468
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+f 13 18 17
+f 13 17 15
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_39.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be0186517dc1ee45937b76998ccc30f7f5bd0af
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_39.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.04891051 0.25611553 -0.26314889
+v 0.04891741 0.26194262 -0.26314887
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+v 0.08453557 0.27441486 -0.03841267
+v 0.09218673 0.27663881 -0.03916266
+f 1 2 5
+f 1 5 9
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+f 1 16 21
+f 1 21 32
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+f 1 22 12
+f 1 12 6
+f 1 6 3
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+f 1 4 2
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+f 44 59 50
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_4.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4dfa1450dd4288a1e883d1b68d6075f802447af
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_4.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.18254627 -0.00592760 0.36458779
+v 0.18254627 -0.00520464 0.36458779
+v 0.18226508 -0.00231281 0.37014582
+v 0.17694116 -0.16432198 0.36458721
+v 0.18252752 -0.00172127 0.36458780
+v 0.18226508 -0.00172129 0.37014582
+v 0.18106533 -0.00668346 0.37514770
+v 0.16916149 -0.27641402 0.38268659
+v 0.17176722 -0.24312488 0.37605350
+v 0.17639752 -0.17743388 0.36458716
+v 0.15975090 -0.00172127 0.36458780
+v 0.18174019 -0.00172130 0.37231982
+v 0.18104658 -0.00172131 0.37514771
+v 0.17853458 -0.00172132 0.37952939
+v 0.17437294 -0.00668350 0.38677267
+v 0.16994884 -0.24312491 0.38374844
+v 0.16966764 -0.25626968 0.38340122
+v 0.16934895 -0.26941442 0.38295288
+v 0.16149429 -0.30881587 0.38770184
+v 0.16080068 -0.32196063 0.38729394
+v 0.15975090 -0.33510540 0.38656586
+v 0.16886155 -0.28515526 0.38125071
+v 0.16987384 -0.28147473 0.37653197
+v 0.17054870 -0.26941439 0.37605340
+v 0.17116733 -0.25626965 0.37605345
+v 0.17579765 -0.19057865 0.36458711
+v -0.00896486 -0.00172132 0.37789469
+v 0.09027750 -0.33743851 0.36458657
+v 0.03008347 -0.33743851 0.36481241
+v 0.01688614 -0.33743851 0.36496407
+v -0.00896486 -0.33743851 0.36526742
+v 0.17435419 -0.00172135 0.38677943
+v 0.16263782 -0.00172137 0.39214533
+v 0.16263782 -0.00668352 0.39213520
+v 0.16263782 -0.01979542 0.39199358
+v 0.14960921 -0.29567115 0.39436206
+v 0.16263782 -0.22998016 0.38914135
+v 0.16263782 -0.24312493 0.38894243
+v 0.16263782 -0.25626970 0.38864240
+v 0.17013629 -0.22998014 0.38396756
+v 0.16198169 -0.29567112 0.38782995
+v 0.14960921 -0.30881590 0.39415642
+v 0.14960921 -0.32196066 0.39364742
+v 0.14960921 -0.33510542 0.39282494
+v 0.16424998 -0.33510536 0.37605316
+v 0.16638706 -0.32196059 0.37605321
+v 0.16850537 -0.29567109 0.37920137
+v 0.14960921 -0.33743861 0.39239014
+v 0.15795126 -0.33743859 0.38723659
+v 0.15941347 -0.33743859 0.38623891
+v 0.16963014 -0.29567107 0.37260524
+v 0.17386679 -0.22998007 0.36458697
+v 0.17452289 -0.21686817 0.36458701
+v -0.00896486 -0.00172139 0.39614616
+v 0.16464365 -0.33743851 0.36458657
+v -0.00896486 -0.33743864 0.39894585
+v 0.15450196 -0.00172137 0.39328793
+v 0.14222320 -0.28255923 0.39578446
+v 0.14960921 -0.28255923 0.39440592
+v 0.14220445 -0.29567115 0.39577432
+v 0.14021736 -0.33510543 0.39550452
+v 0.14775333 -0.33743861 0.39318895
+v 0.16529978 -0.33510532 0.36458658
+v 0.16359387 -0.33743855 0.37605315
+v 0.16743683 -0.32196055 0.36458663
+v 0.16933021 -0.30378793 0.37065704
+v 0.16803672 -0.30842147 0.37545329
+v 0.17118608 -0.28081744 0.36458678
+v 0.17180470 -0.26941435 0.36458682
+v 0.17189843 -0.26767267 0.36458683
+v 0.17319192 -0.24312484 0.36458692
+v -0.00658409 -0.00172139 0.39617985
+v 0.00413873 -0.33743864 0.39899638
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+v 0.04549284 -0.00172139 0.39654051
+v 0.03735699 -0.00172139 0.39650342
+v 0.02434713 -0.00172139 0.39642929
+v 0.01133727 -0.00172139 0.39634501
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+v -0.00169133 -0.00172139 0.39622704
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+v 0.12128370 -0.33743863 0.39728415
+v 0.14149211 -0.00172138 0.39470356
+v 0.13659935 -0.00172138 0.39514173
+v 0.13208152 -0.00172138 0.39554283
+v 0.12940081 -0.00172138 0.39577877
+v 0.13193154 -0.33743863 0.39643816
+v 0.14001115 -0.33743862 0.39539328
+v 0.16891779 -0.31052459 0.36458667
+v 0.16949893 -0.30539814 0.36458669
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+v 0.17109235 -0.28242767 0.36458677
+v 0.01714859 -0.33743864 0.39901663
+v 0.07153130 -0.00172139 0.39661804
+v 0.06339545 -0.00172139 0.39659780
+v 0.05852144 -0.00172139 0.39658430
+v 0.10825510 -0.33743863 0.39795489
+v 0.12289588 -0.00172138 0.39603828
+v 0.03017720 -0.33743864 0.39898289
+v 0.08454116 -0.00172139 0.39661804
+v 0.09524524 -0.33743863 0.39834249
+v 0.11520994 -0.00172139 0.39622369
+v 0.04318706 -0.33743864 0.39889526
+v 0.09755102 -0.00172139 0.39651352
+v 0.08225413 -0.33743863 0.39851440
+v 0.11056088 -0.00172139 0.39633151
+v 0.10244378 -0.00172139 0.39644613
+v 0.05621567 -0.33743863 0.39878404
+v 0.06922553 -0.33743863 0.39865597
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_40.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eac3bac8d9c7a415cf06f4e9e2f6f9093fd8f94
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_40.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.12334924 -0.24346593 -0.27645435
+v 0.06353346 -0.24346598 -0.26478256
+v 0.12334924 -0.24346584 -0.30220846
+v 0.12334924 -0.01979788 -0.27669530
+v 0.06397859 -0.00616771 -0.26478169
+v 0.06403696 -0.01925367 -0.26478174
+v 0.06405156 -0.03238695 -0.26478179
+v 0.04892430 -0.24346598 -0.26478256
+v 0.07152397 -0.24346586 -0.29766577
+v 0.07152397 -0.24313456 -0.29766942
+v 0.07152397 -0.23000128 -0.29779761
+v 0.07152397 -0.21686800 -0.29781222
+v 0.07152397 -0.17744450 -0.29774978
+v 0.07152397 -0.16431122 -0.29771677
+v 0.07152397 -0.07235459 -0.29737940
+v 0.07152397 -0.00171884 -0.29701279
+v 0.12334924 -0.00171884 -0.29804954
+v 0.12334924 -0.01267515 -0.27676491
+v 0.06394940 -0.00171896 -0.26478168
+v 0.04885863 -0.24346591 -0.28337096
+v 0.04890971 -0.23568067 -0.26478254
+v 0.04882214 -0.23000133 -0.28368962
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+v 0.05850563 -0.24313456 -0.29617107
+v 0.05850563 -0.23000128 -0.29628826
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+v 0.05850563 -0.17744450 -0.29620747
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+v 0.06663479 -0.00171884 -0.29645594
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+v 0.04881484 -0.00171896 -0.26478168
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+v 0.04880755 -0.21686805 -0.28368958
+v 0.05037646 -0.23000130 -0.29254055
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+v 0.05055159 -0.00171886 -0.29217337
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+v 0.04880025 -0.00171894 -0.27049668
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+v 0.04895349 -0.00171889 -0.28368879
+v 0.04955187 -0.00171888 -0.28687599
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+f 1 23 9
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+f 1 31 18
+f 1 18 4
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+f 36 44 43
+f 36 43 46
+f 36 46 40
+f 37 39 38
+f 40 46 47
+f 40 47 41
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_41.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62a77bf681663ae52f557a6632fb2a96977ac66
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_41.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.12359441 -0.24346555 -0.38063858
+v 0.14962502 -0.12488742 -0.37826619
+v 0.14962502 -0.13802070 -0.37832466
+v 0.14962502 -0.15115397 -0.37828965
+v 0.14962502 -0.16431092 -0.37823127
+v 0.14962502 -0.17744420 -0.37814952
+v 0.14962502 -0.24346556 -0.37772912
+v 0.12334924 -0.24346555 -0.38048668
+v 0.12693840 -0.00171856 -0.37202618
+v 0.13661114 -0.00171855 -0.37528617
+v 0.14473591 -0.00171855 -0.37654811
+v 0.14962502 -0.00171854 -0.37729590
+v 0.15247011 -0.00171854 -0.37749457
+v 0.15247011 -0.11177780 -0.37793896
+v 0.15247011 -0.12488742 -0.37795072
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+v 0.12334924 -0.01267515 -0.27677359
+v 0.12334924 -0.00171891 -0.27691377
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+f 24 30 25
+f 29 31 30
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_42.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7165d0fdd57cd121cf31cc0148fe754a3abb270c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_42.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+v -0.18916636 -0.00623768 -0.04588580
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+v -0.16042486 -0.00623754 -0.08540315
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+v -0.15056491 0.24295546 -0.09896747
+v -0.15231391 0.25610350 -0.09896742
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+v -0.15513530 0.26898205 -0.08577576
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+v -0.17832340 0.26898200 -0.07258414
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+v -0.18934934 -0.00623700 -0.23088446
+v -0.17833191 0.26898297 -0.33644506
+v -0.17929791 0.25610438 -0.33644511
+v -0.17825956 0.25610439 -0.33946279
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+v -0.18589389 0.17726898 -0.04620127
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_43.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2ffe59ef0320568065f4e12b480c69d3033a8c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_43.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.13374962 -0.00168884 -0.26127980
+v 0.13277033 0.24283215 -0.25802094
+v 0.14974325 -0.00168884 -0.26127980
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+f 1 11 4
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+f 22 35 23
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+f 24 36 25
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+f 26 35 27
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_44.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa40715abe8b01c180c51d9afa3ee149bb36e5ea
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_44.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+v -0.00896486 0.34578895 -0.31841484
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+f 1 26 15
+f 1 15 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
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+f 1 42 65
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+f 1 53 33
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+f 1 21 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
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+f 3 7 8
+f 5 9 10
+f 5 6 9
+f 6 11 9
+f 7 12 8
+f 8 13 23
+f 8 23 37
+f 8 37 61
+f 8 61 80
+f 8 80 62
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+f 8 38 24
+f 8 24 14
+f 8 12 15
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 11 16
+f 11 21 22
+f 11 22 16
+f 13 15 23
+f 14 24 25
+f 15 26 23
+f 16 27 28
+f 16 28 17
+f 16 22 29
+f 16 29 27
+f 17 30 31
+f 17 31 18
+f 17 28 30
+f 18 31 51
+f 18 51 32
+f 18 32 19
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 29
+f 23 26 37
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 26 43 67
+f 26 67 86
+f 26 86 93
+f 26 93 95
+f 26 95 94
+f 26 94 89
+f 26 89 96
+f 26 96 92
+f 26 92 74
+f 26 74 57
+f 26 57 76
+f 26 76 83
+f 26 83 82
+f 26 82 81
+f 26 81 79
+f 26 79 61
+f 26 61 37
+f 27 29 44
+f 27 44 28
+f 28 45 46
+f 28 46 47
+f 28 47 30
+f 28 44 45
+f 29 36 60
+f 29 60 44
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 33 52 34
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+f 33 54 55
+f 33 55 52
+f 34 56 57
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+f 34 58 78
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+f 34 59 35
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+f 35 59 60
+f 35 60 36
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+f 39 63 55
+f 39 55 54
+f 39 54 41
+f 39 41 40
+f 41 54 64
+f 41 64 65
+f 41 65 42
+f 43 66 67
+f 44 68 70
+f 44 70 45
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+f 45 70 71
+f 45 71 46
+f 46 71 72
+f 46 72 47
+f 47 72 48
+f 48 72 73
+f 52 55 57
+f 52 57 56
+f 53 65 54
+f 54 65 64
+f 55 63 57
+f 57 74 75
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+f 58 77 78
+f 59 78 69
+f 59 69 60
+f 61 79 63
+f 61 63 80
+f 62 80 63
+f 63 79 81
+f 63 81 82
+f 63 82 83
+f 63 83 76
+f 66 84 67
+f 67 84 85
+f 67 85 86
+f 68 87 88
+f 68 88 85
+f 68 85 70
+f 68 69 89
+f 68 89 87
+f 69 78 90
+f 69 90 91
+f 69 91 89
+f 70 85 71
+f 71 85 73
+f 71 73 72
+f 73 85 84
+f 74 92 78
+f 74 78 77
+f 74 77 75
+f 78 92 90
+f 85 88 93
+f 85 93 86
+f 87 94 95
+f 87 95 93
+f 87 93 88
+f 87 89 94
+f 89 91 96
+f 90 92 91
+f 91 92 96
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_45.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d3d2b20c7c6c5e2504758138cdd685446cbd81
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_45.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.14621255 -0.33874459 0.20936767
+v -0.16207567 -0.26946648 0.20936792
+v -0.17757569 -0.33874459 0.20936767
+v -0.14844777 -0.33874260 -0.33311186
+v -0.15451054 -0.26946515 -0.15178939
+v -0.15451054 -0.26946515 -0.15173628
+v -0.15453719 -0.26946525 -0.12533993
+v -0.15455718 -0.26946530 -0.11211520
+v -0.17793878 -0.26946648 0.20936792
+v -0.17880823 -0.33874389 0.01976009
+v -0.18024397 -0.33874260 -0.33311186
+v -0.15711553 -0.26946449 -0.33311161
+v -0.15527671 -0.26946486 -0.23087222
+v -0.15460381 -0.26946510 -0.16496100
+v -0.17953776 -0.26946452 -0.32323289
+v -0.18019733 -0.33874268 -0.31006152
+v -0.17907805 -0.26946449 -0.33311161
+f 1 2 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 14
+f 2 14 13
+f 2 13 12
+f 2 12 17
+f 2 17 15
+f 2 15 9
+f 3 9 10
+f 4 11 17
+f 4 17 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 9 15 16
+f 9 16 10
+f 11 15 17
+f 11 16 15
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_46.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5303fe2e401e08841e7c64df4dbc49ee7d20d58f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.12334698 -0.24346572 -0.33549871
+v 0.12334698 -0.24209159 -0.33579826
+v 0.12211461 -0.24346572 -0.33606259
+v 0.12334698 -0.24346555 -0.38049786
+v 0.12334698 -0.24203845 -0.33581589
+v 0.10733279 -0.24346569 -0.34367916
+v 0.11852600 -0.24346571 -0.33785990
+v 0.11278015 -0.24346557 -0.37489003
+v 0.11413238 -0.22182522 -0.37018519
+v 0.12334698 -0.21723219 -0.37193844
+v 0.12334698 -0.21691720 -0.35202254
+v 0.10264973 -0.22123313 -0.35506213
+v 0.10064173 -0.24346567 -0.34966144
+v 0.10845210 -0.24346559 -0.37017205
+v 0.10675616 -0.23000536 -0.36802667
+v 0.10264973 -0.22123311 -0.35966999
+v 0.12334698 -0.20868006 -0.36764336
+v 0.12334698 -0.20469061 -0.36285928
+v 0.10123193 -0.23000541 -0.35357761
+v 0.10024828 -0.24346562 -0.36098722
+v 0.10029577 -0.24346562 -0.36125593
+v 0.10030481 -0.24314296 -0.36126914
+v 0.10123193 -0.23000538 -0.36142767
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 13
+f 1 13 20
+f 1 20 21
+f 1 21 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 18 16
+f 12 16 23
+f 12 23 19
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 18 17
+f 19 23 20
+f 20 23 22
+f 20 22 21
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_47.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5944c3030dc33924aa3d05fa85070f53fc5729b7
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_47.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.15247094 -0.24346703 0.02308026
+v 0.15247094 -0.19324670 -0.02933260
+v 0.13845675 -0.17745468 -0.04659016
+v 0.13844865 -0.17743528 -0.04661799
+v 0.13367541 -0.17745463 -0.05939419
+v 0.13335369 -0.19059628 -0.05939424
+v 0.13321407 -0.20373148 -0.05939429
+v 0.13308053 -0.23000186 -0.05939438
+v 0.13338810 -0.24346673 -0.05939443
+v 0.15247094 -0.24346599 -0.26128068
+v 0.15247094 -0.19068042 -0.03378617
+v 0.14759450 -0.17743528 -0.04659016
+v 0.13367541 -0.17743523 -0.05942203
+v 0.13315135 -0.19059623 -0.07258797
+v 0.13284177 -0.23000181 -0.07258811
+v 0.13291663 -0.24346668 -0.07258816
+v 0.13180172 -0.24346599 -0.26128068
+v 0.15199544 -0.17743449 -0.26128044
+v 0.15247094 -0.17743449 -0.26125260
+v 0.15247094 -0.17745463 -0.05917151
+v 0.15246081 -0.17743523 -0.05917151
+v 0.13356008 -0.17743518 -0.07261575
+v 0.13355806 -0.17745458 -0.07258792
+v 0.13335369 -0.17745449 -0.09897537
+v 0.13261514 -0.17743449 -0.26128044
+v 0.15247094 -0.17743523 -0.05922718
+v 0.13335572 -0.17743509 -0.09900320
+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 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 19
+f 1 19 26
+f 1 26 20
+f 1 20 11
+f 1 11 2
+f 2 11 12
+f 2 12 3
+f 3 12 4
+f 4 12 21
+f 4 21 26
+f 4 26 19
+f 4 19 18
+f 4 18 25
+f 4 25 27
+f 4 27 22
+f 4 22 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 10 17 25
+f 10 25 18
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 17
+f 14 17 15
+f 15 17 16
+f 20 26 21
+f 22 27 24
+f 22 24 23
+f 24 27 25
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_48.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447f7a8867688fcdc15b5e0612e7aeaa96bb3bef
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_48.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01891553 -0.33832115 -0.34059527
+v -0.00896486 -0.30148656 -0.35554913
+v 0.00709222 -0.33832115 -0.34089669
+v 0.02413169 -0.33832115 -0.34060311
+v -0.00896486 -0.30097842 -0.36285777
+v -0.00896486 -0.33832114 -0.34310065
+v 0.07984901 -0.33832115 -0.34114724
+v -0.00658282 -0.30153408 -0.35557260
+v -0.00896486 -0.30158157 -0.36855751
+v 0.00166741 -0.30176439 -0.35576834
+v -0.00658282 -0.30109540 -0.36285777
+v 0.00098062 -0.30210433 -0.36960665
+v -0.00896486 -0.33832101 -0.37919767
+v 0.07984901 -0.33832100 -0.38058737
+v 0.07984901 -0.31215382 -0.35444132
+v -0.00896486 -0.30176434 -0.36988067
+v -0.00658282 -0.30183381 -0.36982978
+v 0.00202385 -0.30176803 -0.36285777
+v 0.07984901 -0.30871381 -0.36285779
+v 0.07984901 -0.30852734 -0.36977499
+v 0.07984901 -0.30994207 -0.37371705
+v -0.00240119 -0.33832101 -0.37936599
+v 0.02418385 -0.33832100 -0.37994537
+v 0.01945453 -0.33832100 -0.37986317
+v 0.01089133 -0.33832101 -0.37969483
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 14
+f 1 14 7
+f 1 7 4
+f 1 4 2
+f 2 5 9
+f 2 9 16
+f 2 16 13
+f 2 13 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 7 14 21
+f 7 21 20
+f 7 20 19
+f 7 19 15
+f 7 15 10
+f 7 10 8
+f 9 12 17
+f 9 17 16
+f 10 18 11
+f 10 15 19
+f 10 19 20
+f 10 20 18
+f 11 18 12
+f 12 18 20
+f 12 20 21
+f 12 21 17
+f 13 16 22
+f 14 23 21
+f 16 17 21
+f 16 21 24
+f 16 24 25
+f 16 25 22
+f 21 23 24
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_49.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c26ac00eb6b7220ec12da28e5cdf22b0f4eccf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_49.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.16953775 0.30908266 0.34422643
+v 0.16951976 0.30908265 0.34567174
+v 0.14654102 0.30908266 0.34422643
+v 0.16900683 0.31400766 0.34422644
+v 0.16946577 0.30908264 0.34966537
+v 0.13870745 0.30908257 0.36851156
+v 0.12358027 0.33347945 0.34422651
+v 0.16798994 0.32180910 0.34422647
+v 0.16886733 0.31274980 0.36285629
+v 0.16927679 0.30908259 0.36285628
+v 0.16874585 0.30908257 0.36851156
+v 0.12358027 0.33210482 0.36851164
+v 0.12358027 0.35050466 0.34422658
+v 0.16674809 0.32953096 0.34422650
+v 0.16789095 0.32180908 0.34966541
+v 0.16764349 0.32180903 0.36285632
+v 0.16709456 0.32180901 0.36851160
+v 0.16779197 0.31662928 0.36851158
+v 0.16852539 0.31102497 0.36851156
+v 0.16896183 0.30908257 0.36623898
+v 0.12358027 0.34630664 0.36851169
+v 0.12358027 0.36211130 0.34966556
+v 0.12358927 0.36211663 0.34422662
+v 0.16587070 0.33494422 0.34422652
+v 0.16577620 0.33494420 0.34966546
+v 0.16617666 0.32743456 0.36851162
+v 0.16546575 0.33494415 0.36285637
+v 0.12358477 0.36307180 0.36851175
+v 0.12358027 0.36273218 0.36285647
+v 0.13661071 0.36304006 0.34422662
+v 0.16359846 0.34266605 0.34422655
+v 0.16191568 0.34807928 0.34966551
+v 0.16169070 0.34807923 0.36285642
+v 0.16493032 0.33494413 0.36851165
+v 0.16336899 0.34056965 0.36851167
+v 0.13103588 0.36328940 0.36851175
+v 0.13661071 0.36311958 0.36285647
+v 0.14197406 0.36196801 0.34422662
+v 0.16197416 0.34807930 0.34422657
+v 0.15764569 0.35627342 0.36285645
+v 0.15973794 0.35135902 0.36851171
+v 0.16120926 0.34807921 0.36851170
+v 0.13661071 0.36307180 0.36851175
+v 0.14405281 0.36148499 0.36851175
+v 0.14962314 0.36034397 0.36285646
+v 0.14962314 0.36038647 0.34966555
+v 0.14962314 0.36039711 0.34422661
+v 0.15950396 0.35292471 0.34422659
+v 0.15742521 0.35603988 0.36851173
+v 0.15771318 0.35632123 0.34966554
+v 0.14962314 0.36003614 0.36851174
+v 0.15420809 0.35770633 0.36851173
+v 0.15773568 0.35633187 0.34422660
+v 0.15297974 0.35872537 0.34422661
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 30
+f 1 30 38
+f 1 38 47
+f 1 47 54
+f 1 54 53
+f 1 53 48
+f 1 48 39
+f 1 39 31
+f 1 31 24
+f 1 24 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 19
+f 6 19 18
+f 6 18 17
+f 6 17 26
+f 6 26 34
+f 6 34 35
+f 6 35 42
+f 6 42 41
+f 6 41 49
+f 6 49 52
+f 6 52 51
+f 6 51 44
+f 6 44 43
+f 6 43 36
+f 6 36 28
+f 6 28 21
+f 6 21 12
+f 6 12 7
+f 7 12 21
+f 7 21 29
+f 7 29 22
+f 7 22 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 11
+f 9 11 20
+f 9 20 10
+f 13 22 23
+f 14 24 25
+f 14 25 15
+f 15 25 16
+f 16 26 17
+f 16 25 27
+f 16 27 26
+f 21 28 29
+f 22 29 23
+f 23 29 28
+f 23 28 30
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 27
+f 26 27 34
+f 27 33 35
+f 27 35 34
+f 28 36 30
+f 30 36 37
+f 30 37 38
+f 31 39 32
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 35
+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 39 48 40
+f 40 49 41
+f 40 48 50
+f 40 50 45
+f 40 45 51
+f 40 51 52
+f 40 52 49
+f 44 51 45
+f 45 50 53
+f 45 53 54
+f 45 54 46
+f 46 54 47
+f 48 53 50
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_5.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3fd08e1f44bee100472491aca99bc0ce715fe2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_5.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00896486 0.36405311 0.03557530
+v 0.00643507 0.36406592 0.03557530
+v -0.00896486 0.34369548 0.03557522
+v -0.00896486 0.36347095 0.37602464
+v 0.08453752 0.36357347 0.37602464
+v 0.01690495 0.36407019 0.03557530
+v 0.06205388 0.34079943 0.03557521
+v 0.00643507 0.32044108 0.23088978
+v -0.00657768 0.32159436 0.23088978
+v -0.00896486 0.32243157 0.23085642
+v -0.00896486 0.36336844 0.37639166
+v 0.08416128 0.36345387 0.37639167
+v 0.09755027 0.36356492 0.37602464
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+v 0.12318656 0.36339405 0.37639166
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_50.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d5d622f0f1d01658f1f2ad847ef22be34ae0edc
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_50.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.16731082 0.24283191 -0.19355379
+v 0.16749930 0.29552744 -0.19355359
+v 0.13233114 0.24283191 -0.19355379
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_51.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f271bb9c1314e39c906f1ec82ffead213262861
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_51.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.18842595 0.30866531 -0.38924147
+v -0.18603048 0.30866534 -0.39871055
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+v -0.17581235 0.28239652 -0.40141869
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+v -0.16279452 0.28239653 -0.40192757
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_52.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83be4ade5ceed058cef7c22a7fa0006b61eb0ace
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_52.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.16280397 0.16413608 -0.37314787
+v -0.17263443 0.11157709 -0.37267618
+v -0.17233205 0.12469082 -0.37267613
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+v -0.18283781 -0.17741087 -0.32860893
+v -0.18107397 -0.17741089 -0.32445712
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_53.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e44b2c3172827e944ae7b9093890871f5c00236
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_53.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04535659 0.29598834 0.24403194
+v -0.03429053 0.32575522 0.23268136
+v -0.03429053 0.32575520 0.23792013
+v -0.03429053 0.32581507 0.24034550
+v -0.03429053 0.33275601 0.24401265
+v -0.03429053 0.33280925 0.24403207
+v -0.06320012 0.29598834 0.24403194
+v -0.04538293 0.29598844 0.21816789
+v -0.04585261 0.29598897 0.07258797
+v -0.04609403 0.29598902 0.05984026
+v -0.03429053 0.33865944 0.07066723
+v -0.03429053 0.35154246 0.24403214
+v -0.07912981 0.33841256 0.24403209
+v -0.06303771 0.29598883 0.11216987
+v -0.04613354 0.29598902 0.05939400
+v -0.03429053 0.34238620 0.04583155
+v -0.03429053 0.34206676 0.04715094
+v -0.03429053 0.34169410 0.04870317
+v -0.03429053 0.33977083 0.05939416
+v -0.03429053 0.35544882 0.24211128
+v -0.03666966 0.35307305 0.24403215
+v -0.07912981 0.36316169 0.24403218
+v -0.07912981 0.34021004 0.05974341
+v -0.06288846 0.29598888 0.09897591
+v -0.04940376 0.29598907 0.04728659
+v -0.04746796 0.33734188 0.04583153
+v -0.03429053 0.36396100 0.04583163
+v -0.04969347 0.29598907 0.04645226
+v -0.03429053 0.35721900 0.24121874
+v -0.04504493 0.35790443 0.24403216
+v -0.07167196 0.36253616 0.24403218
+v -0.03429053 0.36321508 0.20450850
+v -0.03429053 0.36351458 0.19300258
+v -0.03429053 0.36355453 0.19131453
+v -0.07912981 0.36351451 0.21207563
+v -0.07912981 0.34258585 0.04583155
+v -0.06190959 0.29598902 0.05939400
+v -0.06231782 0.29598897 0.07258797
+v -0.05794582 0.33585786 0.04583152
+v -0.07912981 0.36396765 0.04583163
+v -0.03429053 0.36396100 0.04620028
+v -0.05622951 0.29598907 0.04645226
+v -0.03429053 0.35911565 0.23260385
+v -0.05858231 0.36085916 0.24403218
+v -0.07160173 0.36252948 0.24403218
+v -0.03429053 0.36296886 0.20619653
+v -0.07912981 0.36363436 0.19886227
+v -0.07912981 0.36396765 0.04620028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 21
+f 1 21 30
+f 1 30 44
+f 1 44 45
+f 1 45 31
+f 1 31 22
+f 1 22 13
+f 1 13 7
+f 1 7 14
+f 1 14 24
+f 1 24 38
+f 1 38 37
+f 1 37 42
+f 1 42 28
+f 1 28 25
+f 1 25 15
+f 1 15 10
+f 1 10 9
+f 1 9 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 27
+f 2 27 41
+f 2 41 34
+f 2 34 33
+f 2 33 32
+f 2 32 46
+f 2 46 43
+f 2 43 29
+f 2 29 20
+f 2 20 12
+f 2 12 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 7 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 13 22 35
+f 13 35 47
+f 13 47 48
+f 13 48 40
+f 13 40 36
+f 13 36 23
+f 13 23 14
+f 14 23 24
+f 15 25 16
+f 16 26 39
+f 16 39 36
+f 16 36 40
+f 16 40 27
+f 16 25 28
+f 16 28 26
+f 20 29 21
+f 21 29 30
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 26 28 39
+f 27 40 48
+f 27 48 41
+f 28 42 39
+f 29 43 44
+f 29 44 30
+f 31 45 32
+f 32 45 44
+f 32 44 46
+f 34 47 35
+f 34 41 47
+f 36 39 42
+f 36 42 37
+f 41 48 47
+f 43 46 44
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_54.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07bdb5b221f329dcedeb99a0ec9bc9e36b1f56f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_54.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00896486 0.32243145 0.23085746
+v -0.00896486 0.32360680 0.24403204
+v -0.03428614 0.32581124 0.24034550
+v -0.03428614 0.32575024 0.23792013
+v -0.03428614 0.32575026 0.23268136
+v -0.03428614 0.33866414 0.07066723
+v -0.03428614 0.33977452 0.05939416
+v -0.00896486 0.34317473 0.04583155
+v -0.00896486 0.35736032 0.24403216
+v -0.01839590 0.32638063 0.24403205
+v -0.01870076 0.32647824 0.24403205
+v -0.03428614 0.33275796 0.24401265
+v -0.03428614 0.34170240 0.04870317
+v -0.03428614 0.34238977 0.04583155
+v -0.00896486 0.36397834 0.04583163
+v -0.03428614 0.35936550 0.23089641
+v -0.03428614 0.35911332 0.23260385
+v -0.03428614 0.35721799 0.24121874
+v -0.01810590 0.35663637 0.24403216
+v -0.00896486 0.36313588 0.20450850
+v -0.01960545 0.36317248 0.20450850
+v -0.03428614 0.33281491 0.24403207
+v -0.03428614 0.36396209 0.04583163
+v -0.03428614 0.36355890 0.19131453
+v -0.00896486 0.36352230 0.19131453
+v -0.03225617 0.36396615 0.04583163
+v -0.03262052 0.36321315 0.20450850
+v -0.03428614 0.36321721 0.20450850
+v -0.03428614 0.35544875 0.24211128
+v -0.01888170 0.35656317 0.24403216
+v -0.00896486 0.36345315 0.19372049
+v -0.03428614 0.35154427 0.24403214
+v -0.03428614 0.36396209 0.04620028
+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 15
+f 1 15 25
+f 1 25 31
+f 1 31 20
+f 1 20 9
+f 1 9 2
+f 2 9 19
+f 2 19 30
+f 2 30 32
+f 2 32 22
+f 2 22 11
+f 2 11 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 22
+f 3 22 32
+f 3 32 29
+f 3 29 18
+f 3 18 17
+f 3 17 16
+f 3 16 28
+f 3 28 24
+f 3 24 33
+f 3 33 23
+f 3 23 14
+f 3 14 13
+f 3 13 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 13 8
+f 8 13 14
+f 8 14 23
+f 8 23 26
+f 8 26 15
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 20 21
+f 9 21 16
+f 11 22 12
+f 15 24 25
+f 15 26 24
+f 16 21 27
+f 16 27 28
+f 18 29 30
+f 18 30 19
+f 20 31 21
+f 21 31 27
+f 23 33 26
+f 24 28 25
+f 24 26 33
+f 25 28 27
+f 25 27 31
+f 29 32 30
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_55.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1859aa7005818d0f87643c7277c1b736fcd6b0ce
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_55.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.08475633 0.36351752 0.24403219
+v -0.08475633 0.34110816 0.24403210
+v -0.08475633 0.36362834 0.24404430
+v -0.08468955 0.36362834 0.24403219
+v -0.08468955 0.34089842 0.24403210
+v -0.08475633 0.34089842 0.24404421
+v -0.08475633 0.36398402 0.36763681
+v -0.00896486 0.35921602 0.27050505
+v -0.00896486 0.35736020 0.24403216
+v -0.07166939 0.36364767 0.36763681
+v -0.00896486 0.36193421 0.36763680
+v -0.06393890 0.32355817 0.24403204
+v -0.08475633 0.34089447 0.24410470
+v -0.08475633 0.33697247 0.36763671
+v -0.00896486 0.32360962 0.24403204
+v -0.00896486 0.33148786 0.36763669
+v -0.04460525 0.32355817 0.24403204
+v -0.06497013 0.32355774 0.36323259
+v -0.08475633 0.33661633 0.36761253
+v -0.08468955 0.33660447 0.36763671
+v -0.04181574 0.32355817 0.24404415
+v -0.00896486 0.32437310 0.31006905
+v -0.04250570 0.32355772 0.36763666
+v -0.00896486 0.32705990 0.33891335
+v -0.06486626 0.32355772 0.36763666
+v -0.00896486 0.32490726 0.32326918
+v -0.00896486 0.32671960 0.33663872
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 11
+f 4 11 8
+f 5 12 6
+f 6 12 13
+f 7 14 20
+f 7 20 25
+f 7 25 23
+f 7 23 16
+f 7 16 11
+f 7 11 10
+f 8 11 16
+f 8 16 24
+f 8 24 27
+f 8 27 26
+f 8 26 22
+f 8 22 15
+f 8 15 9
+f 12 17 21
+f 12 21 23
+f 12 23 25
+f 12 25 18
+f 12 18 19
+f 12 19 13
+f 14 19 20
+f 15 21 17
+f 15 22 23
+f 15 23 21
+f 16 23 24
+f 18 25 19
+f 19 25 20
+f 22 26 23
+f 23 26 27
+f 23 27 24
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_56.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f2276254c1f0be7f5795b12ac4e9482f867383
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_56.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.14645528 0.34262187 -0.34484557
+v -0.14645528 0.34262199 -0.37835772
+v -0.14645528 0.32126480 -0.34650746
+v -0.07912981 0.34262187 -0.34567370
+v -0.14645528 0.33054286 -0.39813378
+v -0.13667542 0.34262199 -0.37866135
+v -0.14645528 0.32126500 -0.40124763
+v -0.12366637 0.32126483 -0.35295591
+v -0.07912981 0.32130250 -0.36273350
+v -0.07912981 0.32222441 -0.35823946
+v -0.07912981 0.32377559 -0.35349696
+v -0.07912981 0.34262199 -0.37889876
+v -0.13676110 0.32977773 -0.39737192
+v -0.14645528 0.32850668 -0.39890673
+v -0.13676110 0.32126500 -0.40045812
+v -0.14645528 0.32180855 -0.40118138
+v -0.12330391 0.32126483 -0.35310497
+v -0.07912981 0.32312967 -0.36758088
+v -0.11608765 0.32126485 -0.35965835
+v -0.11382061 0.32126486 -0.36286049
+v -0.12492509 0.32126499 -0.39768108
+v -0.07912981 0.33494547 -0.37653582
+v -0.12976230 0.32871153 -0.39625115
+v -0.13676110 0.32180855 -0.40039187
+v -0.13622070 0.32126500 -0.40041396
+v -0.07912981 0.32567386 -0.37127439
+v -0.12873424 0.32126499 -0.39861414
+f 1 2 5
+f 1 5 14
+f 1 14 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 25
+f 3 25 27
+f 3 27 21
+f 3 21 20
+f 3 20 19
+f 3 19 17
+f 3 17 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 9
+f 4 9 18
+f 4 18 26
+f 4 26 22
+f 4 22 12
+f 5 13 14
+f 5 6 12
+f 5 12 13
+f 7 16 24
+f 7 24 15
+f 8 17 9
+f 9 17 19
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 12 22 21
+f 12 21 23
+f 12 23 13
+f 13 23 24
+f 13 24 14
+f 14 24 16
+f 15 24 25
+f 18 21 26
+f 21 22 26
+f 21 27 24
+f 21 24 23
+f 24 27 25
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_57.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e4e41e2af9bb5f0d7e4b6e581fa3371de7912d
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_57.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.06275791 0.29598866 0.15185285
+v -0.04600067 0.29598866 0.15185285
+v -0.06276626 0.29552358 0.15185285
+v -0.06291046 0.29598857 0.17813043
+v -0.04580215 0.29598861 0.16493749
+v -0.04250671 0.20378918 0.24403158
+v -0.04616785 0.20356862 0.15185251
+v -0.06295433 0.28238551 0.15185280
+v -0.06311315 0.29598842 0.21770924
+v -0.04579797 0.29598861 0.16539771
+v -0.04267806 0.20316135 0.24403158
+v -0.04905580 0.17723433 0.15185241
+v -0.04647712 0.19043054 0.15185246
+v -0.04646877 0.19053518 0.15185246
+v -0.04544481 0.29598847 0.20497651
+v -0.04538213 0.29598842 0.21816944
+v -0.04535705 0.29598832 0.24403192
+v -0.06309434 0.26924742 0.15185275
+v -0.06316330 0.29598837 0.23090217
+v -0.06333466 0.24297125 0.15185265
+v -0.04640398 0.19097666 0.24403153
+v -0.05771130 0.19009303 0.24403153
+v -0.05728919 0.17722270 0.15185241
+v -0.06319883 0.29598832 0.24403192
+v -0.06385499 0.21670637 0.24403163
+v -0.06337645 0.22984481 0.15185260
+v -0.05775937 0.19017442 0.24403153
+v -0.06360214 0.20356828 0.24403158
+v -0.06203696 0.19043054 0.15185246
+v -0.06337645 0.22974014 0.15185260
+v -0.06335974 0.21670671 0.15185256
+v -0.06318629 0.20356862 0.15185251
+v -0.06360632 0.20363805 0.24403158
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 23
+f 1 23 29
+f 1 29 32
+f 1 32 31
+f 1 31 30
+f 1 30 26
+f 1 26 20
+f 1 20 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 24
+f 1 24 17
+f 1 17 16
+f 1 16 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 10 15
+f 6 15 16
+f 6 16 17
+f 6 17 24
+f 6 24 25
+f 6 25 33
+f 6 33 28
+f 6 28 27
+f 6 27 22
+f 6 22 21
+f 6 21 11
+f 8 18 9
+f 9 18 20
+f 9 20 19
+f 11 21 12
+f 12 22 23
+f 12 21 22
+f 19 20 25
+f 19 25 24
+f 20 26 25
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 25 26 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 28 33 32
+f 28 32 29
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_58.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad8e9cb7f00c142168ebf45d05230d435ad4b9b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_58.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.06394261 0.32355817 0.24403204
+v -0.06749525 0.29616228 0.36763656
+v -0.06497100 0.32355774 0.36323259
+v -0.04460140 0.32355817 0.24403204
+v -0.06385478 0.21671039 0.24403165
+v -0.06486618 0.32355772 0.36763666
+v -0.06407576 0.20356776 0.25730433
+v -0.06401627 0.20356767 0.28369251
+v -0.06394828 0.20356762 0.29689266
+v -0.06365648 0.20356757 0.31006861
+v -0.06364230 0.21671005 0.33645684
+v -0.06469054 0.26711534 0.36763645
+v -0.04181368 0.32355817 0.24404415
+v -0.04230663 0.32293364 0.24403204
+v -0.06360548 0.20363718 0.24403160
+v -0.04250211 0.32355772 0.36763666
+v -0.06360548 0.20356781 0.24410420
+v -0.06145520 0.19042515 0.25730428
+v -0.06105007 0.19042511 0.27050443
+v -0.06314653 0.20356752 0.32326874
+v -0.06230511 0.20356747 0.33645679
+v -0.06354032 0.25610996 0.36763641
+v -0.03855568 0.19957087 0.25158143
+v -0.03855568 0.19957087 0.24980285
+v -0.03855568 0.19624013 0.24980284
+v -0.04250778 0.20378984 0.24403160
+v -0.06360265 0.20356781 0.24403160
+v -0.04404612 0.26923868 0.36763646
+v -0.03855568 0.19624013 0.25158142
+v -0.05775807 0.19017540 0.24403155
+v -0.05771274 0.19009214 0.24403155
+v -0.05404678 0.18266732 0.24856870
+v -0.05553980 0.18179295 0.25730425
+v -0.05522249 0.18213986 0.27050440
+v -0.05900461 0.19042501 0.29689261
+v -0.05664185 0.19374174 0.33645675
+v -0.05490519 0.19514339 0.34612395
+v -0.05720279 0.20326210 0.35017719
+v -0.06131921 0.21671001 0.34965699
+v -0.06082909 0.24804678 0.36763638
+v -0.05412044 0.20745326 0.35772705
+v -0.04640605 0.19098032 0.24403155
+v -0.04267776 0.20316532 0.24403160
+v -0.05022500 0.18179295 0.25730425
+v -0.05099559 0.18266732 0.24856870
+v -0.04453057 0.25610996 0.36763641
+v -0.04703215 0.20356747 0.33645679
+v -0.04973488 0.19374174 0.33645675
+v -0.05176334 0.18352755 0.30496269
+v -0.05053380 0.18213986 0.27050440
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_59.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682d40c970861cddda2357465771b0610dae95ac
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_59.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_6.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b3e728fb7225487894e6b5f92c98cf80584da5
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_6.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.18235049 -0.00172128 0.36851041
+v 0.18225685 -0.00172129 0.37014507
+v 0.15755589 -0.00172128 0.36851041
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+v 0.17590839 0.16981718 0.36851104
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+v 0.16909175 0.28669067 0.38242799
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_60.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f972e78b908504844a6f1f2a2dd26cef000b5a2
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_60.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.04881001 -0.00171896 -0.26478168
+v 0.04739539 -0.03293206 -0.03299902
+v 0.04747070 -0.00666549 -0.03299892
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+v 0.04888710 -0.22254739 -0.26478249
+v 0.04891937 -0.24346598 -0.26478256
+v 0.04683242 -0.24346683 -0.03295441
+v 0.04683242 -0.24313553 -0.03295441
+v 0.04749221 -0.00171981 -0.03295353
+v 0.06504667 -0.00171976 -0.04645565
+v 0.06513452 -0.01979868 -0.05939053
+v 0.06403367 -0.01925367 -0.26478174
+v 0.06352986 -0.24346598 -0.26478256
+v 0.06385259 -0.24346683 -0.03295441
+v 0.06479028 -0.00171981 -0.03295353
+v 0.06502336 -0.00171978 -0.04125905
+v 0.06505922 -0.00543495 -0.04498065
+v 0.06513811 -0.01979873 -0.04620610
+v 0.06514707 -0.03293196 -0.05939058
+v 0.06404264 -0.03238695 -0.26478179
+v 0.06502515 -0.23000212 -0.06781028
+v 0.06501260 -0.23669894 -0.06615374
+v 0.06478490 -0.24346669 -0.07160000
+v 0.06472753 -0.24346673 -0.06041252
+v 0.06490682 -0.23000216 -0.05684972
+v 0.06410539 -0.22993125 -0.03295436
+v 0.06488710 -0.00505638 -0.03295354
+v 0.06497137 -0.00171979 -0.03767361
+v 0.06501440 -0.01104326 -0.03295356
+v 0.06503233 -0.00900818 -0.03642553
+v 0.06506460 -0.01766906 -0.03295358
+v 0.06507177 -0.01906521 -0.03295359
+v 0.06510225 -0.03293206 -0.03295364
+v 0.06513273 -0.03293201 -0.04620615
+v 0.06508252 -0.19057865 -0.05939116
+v 0.06503950 -0.21686883 -0.06969373
+v 0.06502515 -0.23000214 -0.06345329
+v 0.06501260 -0.23669894 -0.06588143
+v 0.06499109 -0.21994515 -0.05389965
+v 0.06420937 -0.21686897 -0.03295432
+v 0.06505384 -0.19057868 -0.05094950
+v 0.06506280 -0.17744540 -0.05069982
+v 0.06503412 -0.21608797 -0.05873317
+v 0.06501260 -0.21118965 -0.05271960
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 22
+f 1 22 28
+f 1 28 41
+f 1 41 29
+f 1 29 23
+f 1 23 15
+f 1 15 5
+f 1 5 16
+f 1 16 25
+f 1 25 33
+f 1 33 26
+f 1 26 19
+f 1 19 18
+f 1 18 17
+f 1 17 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 13
+f 2 13 3
+f 2 9 12
+f 2 12 10
+f 3 13 22
+f 3 22 14
+f 3 14 4
+f 5 15 16
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 26
+f 7 26 36
+f 7 36 37
+f 7 37 27
+f 7 27 20
+f 7 20 21
+f 7 21 8
+f 8 21 12
+f 8 12 9
+f 10 12 21
+f 10 21 20
+f 10 20 27
+f 10 27 39
+f 10 39 53
+f 10 53 46
+f 10 46 45
+f 10 45 44
+f 10 44 42
+f 10 42 40
+f 10 40 28
+f 10 28 22
+f 10 22 13
+f 10 13 11
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 25 32 33
+f 26 34 35
+f 26 35 36
+f 26 33 34
+f 27 37 38
+f 27 38 39
+f 28 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 31
+f 29 31 30
+f 31 45 46
+f 31 46 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 50 51
+f 34 51 35
+f 34 49 48
+f 34 48 50
+f 35 51 36
+f 36 51 37
+f 37 51 38
+f 38 52 39
+f 38 51 52
+f 39 52 53
+f 40 42 41
+f 42 44 43
+f 46 53 54
+f 46 54 55
+f 46 55 48
+f 46 48 47
+f 48 55 54
+f 48 54 50
+f 50 56 57
+f 50 57 52
+f 50 52 51
+f 50 54 56
+f 52 57 53
+f 53 57 54
+f 54 57 56
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_61.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81dec5945813292225a9d7096481b05097d71cc3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_61.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.12375637 -0.33743851 0.36458321
+v 0.12375637 -0.33743849 0.36047480
+v 0.12375637 -0.33614065 0.36458322
+v 0.09029818 -0.33743851 0.36458321
+v 0.12375637 -0.33601639 0.36455628
+v 0.11057289 -0.33743850 0.36109452
+v 0.11057289 -0.33601853 0.36458322
+v 0.12114259 -0.33599607 0.36458322
+v 0.12358932 -0.33606652 0.36458322
+v 0.09755647 -0.33690437 0.36458321
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 8
+f 1 8 7
+f 1 7 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 6
+f 5 8 9
+f 6 10 7
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_62.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8f33de1149e474b8d3a3bd367a6ad3633fa437
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_62.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.17104475 0.24283107 0.03555242
+v 0.15264495 0.24283107 0.03555242
+v 0.17214664 0.24283107 0.03552999
+v 0.17213167 0.24297718 0.03555242
+v 0.14682708 0.26925471 0.03555252
+v 0.14163202 0.24283136 -0.04348530
+v 0.16952366 0.30024149 0.03555263
+v 0.17220054 0.24283118 0.00644034
+v 0.14448556 0.28253395 0.03555257
+v 0.14163202 0.24291566 -0.04339558
+v 0.14163202 0.24283191 -0.19353135
+v 0.16950869 0.30024150 0.03297336
+v 0.14320401 0.30024149 0.03555263
+v 0.17221850 0.24283122 -0.00674757
+v 0.17215264 0.24283127 -0.01995789
+v 0.14353937 0.29504332 0.03555261
+v 0.14163202 0.24414074 -0.04229658
+v 0.14333277 0.29815660 0.03555263
+v 0.14163202 0.30024233 -0.19353114
+v 0.16731389 0.24283191 -0.19353135
+v 0.16918232 0.30024168 -0.01585329
+v 0.14163202 0.29095255 -0.06129328
+v 0.14163202 0.28978364 -0.05790659
+v 0.14163202 0.28781114 -0.05389191
+v 0.14163202 0.27778561 -0.03731736
+v 0.14163202 0.27361020 -0.03482781
+v 0.14163202 0.26925496 -0.03240557
+v 0.14163202 0.25611622 -0.03709315
+v 0.14163202 0.30024196 -0.09336587
+v 0.17191308 0.24283137 -0.04619913
+v 0.16741869 0.30024233 -0.19353114
+v 0.16749953 0.29552744 -0.19353115
+v 0.16856250 0.24283180 -0.16446413
+v 0.17173044 0.24283142 -0.05938704
+v 0.17172745 0.24283142 -0.05954404
+v 0.17145796 0.24283147 -0.07273194
+v 0.17117351 0.24283152 -0.08576284
+v 0.17117052 0.24283152 -0.08589742
+v 0.17087108 0.24283156 -0.09895075
+v 0.16747857 0.29676939 -0.19353115
+v 0.16894876 0.24283177 -0.15473021
+v 0.17052674 0.24283161 -0.11213866
+v 0.17007760 0.24283166 -0.12534898
+f 1 2 6
+f 1 6 11
+f 1 11 20
+f 1 20 33
+f 1 33 41
+f 1 41 43
+f 1 43 42
+f 1 42 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 30
+f 1 30 15
+f 1 15 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 18
+f 1 18 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 5 9 6
+f 6 9 10
+f 6 10 17
+f 6 17 28
+f 6 28 27
+f 6 27 26
+f 6 26 25
+f 6 25 24
+f 6 24 23
+f 6 23 22
+f 6 22 29
+f 6 29 19
+f 6 19 11
+f 7 12 21
+f 7 21 31
+f 7 31 19
+f 7 19 29
+f 7 29 13
+f 7 8 14
+f 7 14 15
+f 7 15 12
+f 9 16 10
+f 10 16 18
+f 10 18 13
+f 10 13 17
+f 11 19 31
+f 11 31 40
+f 11 40 32
+f 11 32 20
+f 12 15 21
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 17
+f 13 29 22
+f 15 30 21
+f 20 32 33
+f 21 30 31
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 32 41 33
+f 32 40 42
+f 32 42 43
+f 32 43 41
+f 39 42 40
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_63.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..906efdca56890691b6b3ed0dc59d07789e20af27
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_63.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.18100303 0.32126496 -0.38924739
+v -0.17861191 0.34262191 -0.35737097
+v -0.17754657 0.34262193 -0.36328402
+v -0.17730643 0.32126499 -0.39865411
+v -0.17654548 0.32126467 -0.30926314
+v -0.17885203 0.34262174 -0.30926306
+v -0.17916319 0.34262186 -0.34418169
+v -0.17296049 0.34262197 -0.37377406
+v -0.17567290 0.32205732 -0.39887080
+v -0.17568305 0.32126500 -0.39904228
+v -0.17123903 0.32939096 -0.39702914
+v -0.17101242 0.32126467 -0.30926314
+v -0.15851233 0.34262174 -0.30926306
+v -0.16883776 0.34262198 -0.37567887
+v -0.16280078 0.32180855 -0.40110961
+v -0.16280078 0.32126500 -0.40114571
+v -0.16280078 0.33041533 -0.39805828
+v -0.16024394 0.32126467 -0.30929023
+v -0.16028115 0.32180822 -0.30926314
+v -0.14645528 0.34262187 -0.34484974
+v -0.14645528 0.32126480 -0.34651088
+v -0.16280078 0.34262199 -0.37763786
+v -0.14978324 0.33080626 -0.39839227
+v -0.14978324 0.32180855 -0.40145267
+v -0.14978324 0.32126500 -0.40147975
+v -0.14645528 0.34262199 -0.37836005
+v -0.14645528 0.32126500 -0.40124504
+v -0.14978324 0.34262199 -0.37849548
+v -0.14645528 0.33054286 -0.39813047
+v -0.14645528 0.32850668 -0.39890687
+v -0.14924549 0.32126500 -0.40147069
+v -0.14645528 0.32180855 -0.40118185
+v -0.14645528 0.32167057 -0.40119988
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 25
+f 1 25 31
+f 1 31 27
+f 1 27 21
+f 1 21 18
+f 1 18 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 20
+f 2 20 26
+f 2 26 28
+f 2 28 22
+f 2 22 14
+f 2 14 8
+f 2 8 3
+f 3 8 4
+f 4 9 10
+f 4 8 11
+f 4 11 9
+f 5 12 19
+f 5 19 13
+f 5 13 6
+f 8 14 11
+f 9 15 10
+f 9 11 15
+f 10 15 16
+f 11 17 15
+f 11 14 17
+f 12 18 19
+f 13 19 18
+f 13 18 21
+f 13 21 20
+f 14 22 17
+f 15 17 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 17 22 23
+f 20 21 27
+f 20 27 33
+f 20 33 32
+f 20 32 30
+f 20 30 29
+f 20 29 26
+f 22 28 23
+f 23 29 30
+f 23 30 24
+f 23 28 26
+f 23 26 29
+f 24 31 25
+f 24 30 32
+f 24 32 33
+f 24 33 31
+f 27 31 33
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_64.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4223fc83dd981d77c5c782b95dd62a6c50abd3a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_64.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.15286317 0.30242499 0.34958413
+v -0.14790343 0.33269852 0.34958424
+v -0.15286317 0.33269852 0.34958424
+v -0.15286317 0.30919713 0.28369719
+v -0.14807872 0.33269885 0.25730943
+v -0.14802822 0.33269881 0.27050335
+v -0.15286317 0.33269890 0.24404319
+v -0.15286317 0.31212820 0.27050328
+v -0.14850361 0.33269890 0.24410517
+v -0.14850846 0.33269890 0.24403285
+v -0.15286317 0.32324787 0.24404316
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 9
+f 2 9 10
+f 2 10 7
+f 2 7 3
+f 4 8 9
+f 4 9 5
+f 7 10 11
+f 8 11 10
+f 8 10 9
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_65.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..823925067584019ee9539f3a5fa3d58bc29159bb
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_65.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.07912981 0.33582041 -0.37680593
+v -0.05428087 0.29599058 -0.37060001
+v -0.07912981 0.33494319 -0.37653757
+v -0.07912981 0.33582031 -0.34907147
+v -0.01910224 0.33582042 -0.37888090
+v -0.04868334 0.29599058 -0.37060001
+v -0.05900616 0.29599055 -0.36284812
+v -0.07912981 0.32567189 -0.37126889
+v -0.00896486 0.33582042 -0.37922861
+v -0.06371770 0.33582028 -0.34062036
+v -0.07912981 0.32377314 -0.35349738
+v -0.06107347 0.29599047 -0.34062050
+v -0.06159544 0.29970988 -0.34062049
+v -0.04842234 0.29599058 -0.37054331
+v -0.00896486 0.30854849 -0.36745537
+v -0.06124517 0.29599050 -0.34966123
+v -0.07912981 0.32130135 -0.36272708
+v -0.07912981 0.32312600 -0.36758003
+v -0.00896486 0.33582031 -0.34875021
+v -0.04336052 0.33582028 -0.34062036
+v -0.07912981 0.32222145 -0.35824073
+v -0.04548965 0.29599047 -0.34062050
+v -0.00896486 0.30031038 -0.36079581
+v -0.04305833 0.29599056 -0.36383082
+v -0.00896486 0.30866932 -0.35331223
+v -0.04362838 0.29599050 -0.34905648
+v -0.00896486 0.30031035 -0.35483166
+v -0.00896486 0.30713708 -0.35358814
+v -0.04338800 0.29599051 -0.35019035
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 21
+f 1 21 11
+f 1 11 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 9
+f 1 9 5
+f 1 5 2
+f 2 6 14
+f 2 14 24
+f 2 24 29
+f 2 29 26
+f 2 26 22
+f 2 22 12
+f 2 12 16
+f 2 16 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 4 11 12
+f 4 12 13
+f 4 13 10
+f 6 9 15
+f 6 15 14
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 25
+f 9 25 28
+f 9 28 27
+f 9 27 23
+f 9 23 15
+f 10 13 12
+f 10 12 22
+f 10 22 20
+f 11 21 12
+f 12 21 17
+f 12 17 16
+f 14 15 23
+f 14 23 24
+f 19 20 22
+f 19 22 25
+f 22 26 27
+f 22 27 28
+f 22 28 25
+f 23 27 24
+f 24 27 29
+f 26 29 27
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_66.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421d719371eb1c1e15a8dae9fedca7a02b8f7901
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_66.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.12821265 0.24296795 -0.36286007
+v -0.12937318 0.24296798 -0.37025245
+v -0.12909710 0.24296792 -0.35507133
+v -0.12939874 0.23022776 -0.36335637
+v -0.12993044 0.22210452 -0.36808822
+v -0.12993044 0.22210453 -0.36981140
+v -0.12950099 0.22983388 -0.37019392
+v -0.13676580 0.24296798 -0.37125535
+v -0.14978213 0.20356574 -0.37466736
+v -0.12983330 0.23486405 -0.35583645
+v -0.15431689 0.24296787 -0.33949731
+v -0.15433734 0.24288390 -0.33946286
+v -0.15883120 0.17700685 -0.33946310
+v -0.13162777 0.22610801 -0.35928971
+v -0.14162775 0.19380877 -0.36648234
+v -0.14162775 0.19380878 -0.37114869
+v -0.13989974 0.20356573 -0.37194130
+v -0.14978213 0.24296799 -0.37241333
+v -0.14917887 0.18982466 -0.37270644
+v -0.15312057 0.17700697 -0.37176220
+v -0.16279847 0.17700697 -0.37300288
+v -0.16279847 0.17729109 -0.37299944
+v -0.16237924 0.24296799 -0.37184122
+v -0.16067680 0.24296787 -0.33946286
+v -0.17854485 0.17700685 -0.33946310
+v -0.15163796 0.17700693 -0.36285686
+v -0.15164818 0.17700693 -0.36303262
+v -0.17024733 0.17700696 -0.37069728
+v -0.16850397 0.24296797 -0.36886360
+v -0.17876981 0.24296787 -0.33946286
+v -0.18043135 0.17700685 -0.33948033
+v -0.18043646 0.17731035 -0.33946310
+v -0.17992011 0.20469561 -0.33946300
+v -0.17968494 0.21669969 -0.33946295
+v -0.17964914 0.21821068 -0.33946295
+v -0.17129027 0.24296795 -0.36263604
+v -0.17924526 0.23191948 -0.33946290
+f 1 2 8
+f 1 8 18
+f 1 18 23
+f 1 23 29
+f 1 29 36
+f 1 36 30
+f 1 30 24
+f 1 24 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 4
+f 3 11 12
+f 3 12 13
+f 3 13 10
+f 4 10 5
+f 5 10 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 9
+f 8 9 18
+f 9 17 16
+f 9 16 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 18
+f 10 13 14
+f 11 24 12
+f 12 24 30
+f 12 30 37
+f 12 37 35
+f 12 35 34
+f 12 34 33
+f 12 33 32
+f 12 32 25
+f 12 25 13
+f 13 25 31
+f 13 31 28
+f 13 28 21
+f 13 21 20
+f 13 20 27
+f 13 27 26
+f 13 26 15
+f 13 15 14
+f 15 26 16
+f 16 26 27
+f 16 27 20
+f 16 20 19
+f 21 28 22
+f 22 28 23
+f 23 28 29
+f 25 32 31
+f 28 31 32
+f 28 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 36 37
+f 35 37 36
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_67.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5c4575e867709ae4e3eb7daf3ba52cd8e75f73
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_67.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.12372152 -0.30094871 -0.32898604
+v 0.12372152 -0.26942197 -0.33052984
+v 0.10004495 -0.29569328 -0.33938231
+v 0.10011071 -0.30094867 -0.33920919
+v 0.12372152 -0.30094845 -0.40120467
+v 0.12372152 -0.25945697 -0.33134507
+v 0.10091213 -0.26942193 -0.34060149
+v 0.10029976 -0.28255479 -0.34006767
+v 0.08173990 -0.28255461 -0.38924992
+v 0.08586203 -0.30094851 -0.38354320
+v 0.12359000 -0.30094845 -0.40121911
+v 0.12372152 -0.29569305 -0.40245279
+v 0.12372152 -0.25628349 -0.33178514
+v 0.10212863 -0.25628346 -0.34151050
+v 0.09807224 -0.25628343 -0.34967026
+v 0.08529076 -0.26942175 -0.38924987
+v 0.08780185 -0.26942172 -0.39814556
+v 0.08614560 -0.28255458 -0.39877326
+v 0.08797857 -0.29569307 -0.39780656
+v 0.08506472 -0.29569310 -0.38924997
+v 0.10064498 -0.24346567 -0.34966299
+v 0.08964304 -0.30094846 -0.39688310
+v 0.11577316 -0.30094845 -0.40108925
+v 0.12359000 -0.29569305 -0.40246001
+v 0.12372152 -0.28268960 -0.40268358
+v 0.12372152 -0.24346572 -0.33504612
+v 0.10334924 -0.24865355 -0.34245559
+v 0.08984443 -0.26157806 -0.38924984
+v 0.08993484 -0.26165117 -0.39694066
+v 0.10025045 -0.24346562 -0.36099000
+v 0.09755852 -0.26942171 -0.40126948
+v 0.09755852 -0.28255456 -0.40197656
+v 0.09755852 -0.29569306 -0.40092327
+v 0.10733163 -0.24346569 -0.34368204
+v 0.09755852 -0.30094845 -0.39919897
+v 0.11091538 -0.30094845 -0.40079342
+v 0.11057016 -0.29569305 -0.40223633
+v 0.12359000 -0.28255456 -0.40268358
+v 0.12372152 -0.28255456 -0.40268358
+v 0.12372152 -0.24346555 -0.38062827
+v 0.11508683 -0.24933419 -0.39634902
+v 0.09755852 -0.25923166 -0.39818157
+v 0.10029976 -0.24346562 -0.36126414
+v 0.11057016 -0.26942170 -0.40230116
+v 0.11067701 -0.25542236 -0.39867218
+v 0.11057016 -0.28255456 -0.40242386
+v 0.10292592 -0.30094845 -0.39998541
+v 0.12372152 -0.26955674 -0.40261143
+v 0.12372152 -0.24928356 -0.39641395
+v 0.12359000 -0.24927792 -0.39642117
+v 0.12359000 -0.24346555 -0.38064990
+v 0.12359000 -0.25628324 -0.39974713
+v 0.10844950 -0.24346559 -0.37017425
+v 0.11278123 -0.24346557 -0.37489262
+v 0.12359000 -0.26942170 -0.40260421
+v 0.12372152 -0.26942170 -0.40260421
+v 0.12372152 -0.25628324 -0.39973269
+v 0.12372152 -0.25641828 -0.39977601
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 35
+f 1 35 47
+f 1 47 36
+f 1 36 23
+f 1 23 11
+f 1 11 5
+f 1 5 12
+f 1 12 25
+f 1 25 39
+f 1 39 48
+f 1 48 56
+f 1 56 58
+f 1 58 57
+f 1 57 49
+f 1 49 40
+f 1 40 26
+f 1 26 13
+f 1 13 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 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 9 15 21
+f 9 21 16
+f 10 20 22
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 13 26 27
+f 13 27 14
+f 14 27 21
+f 14 21 15
+f 16 28 29
+f 16 29 17
+f 16 21 30
+f 16 30 28
+f 17 29 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 22
+f 19 22 20
+f 21 27 34
+f 21 34 26
+f 21 26 40
+f 21 40 51
+f 21 51 54
+f 21 54 53
+f 21 53 43
+f 21 43 30
+f 22 33 35
+f 23 36 37
+f 23 37 24
+f 24 37 25
+f 25 38 39
+f 25 37 38
+f 26 34 27
+f 28 30 29
+f 29 41 42
+f 29 42 31
+f 29 30 43
+f 29 43 41
+f 31 44 32
+f 31 42 45
+f 31 45 44
+f 32 44 46
+f 32 46 37
+f 32 37 33
+f 33 37 36
+f 33 36 47
+f 33 47 35
+f 37 46 38
+f 38 46 48
+f 38 48 39
+f 40 49 50
+f 40 50 51
+f 41 50 52
+f 41 52 45
+f 41 45 42
+f 41 43 53
+f 41 53 54
+f 41 54 51
+f 41 51 50
+f 44 45 52
+f 44 52 55
+f 44 55 48
+f 44 48 46
+f 48 55 56
+f 49 57 52
+f 49 52 50
+f 52 57 58
+f 52 58 56
+f 52 56 55
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_68.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e28b0a8c8cd8ddec6d8a1aa77d2664aac94d4e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.08246409 -0.21686592 -0.00660192
+v 0.08008420 -0.21686589 -0.01385959
+v 0.07947873 -0.20956649 -0.01360273
+v 0.08054618 -0.20915908 -0.00660189
+v 0.07993370 -0.20951131 0.00036560
+v 0.08040619 -0.21686594 0.00054234
+v 0.07966772 -0.23000070 0.00051562
+v 0.07894675 -0.24047674 0.00033214
+v 0.08142114 -0.23000068 -0.00660196
+v 0.07911824 -0.24346690 -0.01381298
+v 0.07978321 -0.23000065 -0.01392967
+v 0.06410742 -0.23000058 -0.03295435
+v 0.06421242 -0.21686582 -0.03295431
+v 0.06391143 -0.20373106 -0.03295426
+v 0.06257100 -0.17291754 -0.03295415
+v 0.07152009 -0.20820612 0.00055906
+v 0.07152009 -0.21686594 0.00111935
+v 0.06508038 -0.18373894 -0.01295892
+v 0.05850418 -0.18187439 -0.01202169
+v 0.07152009 -0.23000070 0.00106595
+v 0.07373199 -0.24346695 0.00053225
+v 0.07844978 -0.24346695 0.00000526
+v 0.07935623 -0.24346693 -0.00451076
+v 0.07955222 -0.24346693 -0.00570481
+v 0.06385544 -0.24346683 -0.03295440
+v 0.04748318 -0.17291754 -0.03295415
+v 0.05851468 -0.17291759 -0.01847551
+v 0.06295948 -0.20829588 0.00037561
+v 0.05850418 -0.19059638 -0.00748902
+v 0.06173803 -0.21686594 0.00057236
+v 0.06140905 -0.23000070 0.00054230
+v 0.05152899 -0.18144624 -0.01187160
+v 0.06145805 -0.24314236 0.00047221
+v 0.06150354 -0.24346695 0.00046554
+v 0.07244755 -0.24346695 0.00060229
+v 0.04683221 -0.24346683 -0.03295440
+v 0.04699320 -0.20373106 -0.03295426
+v 0.04689171 -0.21686587 -0.01979313
+v 0.04736419 -0.20373111 -0.01979308
+v 0.04841414 -0.19059634 -0.01979303
+v 0.04916310 -0.17291757 -0.02360191
+v 0.05001357 -0.17291759 -0.01892245
+v 0.05857418 -0.20384857 -0.00220591
+v 0.05522833 -0.21686594 -0.00124206
+v 0.05489934 -0.23000070 -0.00096860
+v 0.05495184 -0.24314236 -0.00085858
+v 0.05075903 -0.19059637 -0.01023065
+v 0.05520733 -0.24346695 -0.00082189
+v 0.04671671 -0.24346688 -0.01979322
+v 0.04671322 -0.24314229 -0.01979322
+v 0.04683221 -0.24314224 -0.03295440
+v 0.04690571 -0.21686582 -0.03295431
+v 0.04675171 -0.23000063 -0.01979317
+v 0.04954459 -0.21686591 -0.00783933
+v 0.04943259 -0.23000067 -0.00756587
+v 0.04991907 -0.20373115 -0.00861641
+v 0.04938359 -0.24314233 -0.00745585
+v 0.05481535 -0.24346695 -0.00103202
+v 0.05503234 -0.24346695 -0.00086525
+v 0.04938710 -0.24346692 -0.00746586
+v 0.04686021 -0.23000058 -0.03295435
+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 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 4
+f 4 15 5
+f 5 16 17
+f 5 17 6
+f 5 15 18
+f 5 18 19
+f 5 19 16
+f 6 17 20
+f 6 20 7
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 10
+f 10 24 23
+f 10 23 22
+f 10 22 21
+f 10 21 35
+f 10 35 34
+f 10 34 48
+f 10 48 59
+f 10 59 58
+f 10 58 60
+f 10 60 49
+f 10 49 36
+f 10 36 25
+f 10 25 11
+f 11 25 12
+f 12 25 36
+f 12 36 51
+f 12 51 61
+f 12 61 52
+f 12 52 37
+f 12 37 26
+f 12 26 15
+f 12 15 14
+f 12 14 13
+f 15 26 41
+f 15 41 42
+f 15 42 27
+f 15 27 18
+f 16 28 17
+f 16 19 29
+f 16 29 28
+f 17 28 30
+f 17 30 31
+f 17 31 20
+f 18 27 19
+f 19 27 32
+f 19 32 29
+f 20 31 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 27 42 32
+f 28 29 32
+f 28 32 43
+f 28 43 44
+f 28 44 30
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 46 33
+f 32 42 47
+f 32 47 44
+f 32 44 43
+f 33 46 48
+f 33 48 34
+f 36 49 50
+f 36 50 51
+f 37 52 53
+f 37 53 38
+f 38 54 39
+f 38 53 55
+f 38 55 54
+f 39 54 56
+f 39 56 42
+f 39 42 40
+f 40 42 41
+f 42 56 47
+f 44 47 56
+f 44 56 54
+f 44 54 45
+f 45 55 57
+f 45 57 46
+f 45 54 55
+f 46 57 58
+f 46 58 59
+f 46 59 48
+f 49 60 57
+f 49 57 50
+f 50 57 53
+f 50 53 61
+f 50 61 51
+f 52 61 53
+f 53 57 55
+f 57 60 58
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_69.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f462111bab29f027ac213562bd5a475be00556
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_69.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.11925847 0.28696922 -0.27049824
+v 0.11925847 0.28696922 -0.27034695
+v 0.11925847 0.28683101 -0.28368785
+v 0.07152614 0.28518474 -0.27049824
+v 0.11925847 0.28686118 -0.26314878
+v 0.11925847 0.28343919 -0.29224053
+v 0.07152614 0.28503356 -0.28368785
+v 0.05850635 0.28347375 -0.28368786
+v 0.05850635 0.28353419 -0.27049825
+v 0.06427914 0.28418660 -0.26314879
+v 0.07152614 0.28504644 -0.26314878
+v 0.11925847 0.26612130 -0.26314885
+v 0.11925847 0.28189669 -0.29543151
+v 0.07152614 0.28023317 -0.29353523
+v 0.05850635 0.27958073 -0.29290548
+v 0.05096314 0.27784809 -0.29161080
+v 0.05044648 0.27883321 -0.28368788
+v 0.05046026 0.27875105 -0.27049827
+v 0.05404242 0.28080773 -0.26314880
+v 0.05850635 0.28345206 -0.26314879
+v 0.11925847 0.24283655 -0.27932196
+v 0.06365226 0.24283649 -0.26314894
+v 0.11925847 0.26924971 -0.29909046
+v 0.07152614 0.26924970 -0.29682827
+v 0.05850635 0.26924970 -0.29554064
+v 0.05046026 0.26924968 -0.29227225
+v 0.04890339 0.26924965 -0.28368791
+v 0.04891028 0.26924960 -0.27049830
+v 0.05048092 0.27868621 -0.26314881
+v 0.04893784 0.26924958 -0.26314884
+v 0.11925847 0.24283662 -0.29830249
+v 0.04891028 0.24283649 -0.26314894
+v 0.11925847 0.25611878 -0.29880554
+v 0.07152614 0.24283661 -0.29702187
+v 0.07152614 0.24297919 -0.29702187
+v 0.05850635 0.24297919 -0.29561813
+v 0.05850635 0.24283661 -0.29561813
+v 0.05057737 0.24283659 -0.29229698
+v 0.05048781 0.24283659 -0.29225829
+v 0.05046714 0.24283659 -0.29216681
+v 0.04891028 0.25611872 -0.28368796
+v 0.04888272 0.24283651 -0.27049840
+v 0.04888961 0.25611867 -0.27049835
+v 0.04891028 0.25611865 -0.26314889
+v 0.11925847 0.24288415 -0.29830601
+v 0.04892406 0.24283656 -0.28368801
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 31
+f 1 31 45
+f 1 45 33
+f 1 33 23
+f 1 23 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
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+f 4 10 11
+f 4 11 5
+f 5 11 10
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+f 5 29 30
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+f 5 32 22
+f 5 22 12
+f 6 13 7
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+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
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+f 9 20 10
+f 12 22 21
+f 13 23 24
+f 13 24 14
+f 14 24 15
+f 15 25 16
+f 15 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 29 19
+f 18 28 30
+f 18 30 29
+f 21 22 32
+f 21 32 42
+f 21 42 46
+f 21 46 40
+f 21 40 39
+f 21 39 38
+f 21 38 37
+f 21 37 34
+f 21 34 31
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 36 26
+f 25 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 28
+f 28 43 44
+f 28 44 30
+f 31 34 45
+f 32 44 42
+f 33 45 34
+f 34 37 36
+f 34 36 35
+f 40 46 41
+f 41 46 42
+f 42 44 43
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_7.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a278a0fafcef0467b7294dbb4beed986543bc22c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_7.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00896486 -0.36434708 0.36285802
+v -0.00896486 -0.36431206 0.37605355
+v -0.05865891 -0.36445226 0.36285802
+v -0.00896486 -0.33871727 0.36285812
+v -0.00896486 -0.36329533 0.38683353
+v -0.07168748 -0.36441726 0.37605355
+v -0.11071520 -0.36441726 0.37605355
+v -0.13675784 -0.36441721 0.36285802
+v -0.15701807 -0.26319526 0.36285839
+v -0.05865891 -0.00626615 0.37622366
+v -0.04564484 -0.00626615 0.37661000
+v -0.00896486 -0.00626616 0.37789654
+v -0.00896486 -0.36304991 0.38924534
+v -0.04564484 -0.36308498 0.38924534
+v -0.08468706 -0.36312006 0.38924534
+v -0.12374378 -0.36438221 0.37605355
+v -0.14977192 -0.36438216 0.36285802
+v -0.15701807 -0.36410165 0.36285802
+v -0.15701807 -0.00626615 0.37452452
+v -0.00896486 -0.00626623 0.39616700
+v -0.00896486 -0.35919320 0.39719342
+v -0.09770113 -0.36297980 0.38924534
+v -0.13675784 -0.36431206 0.37605355
+v -0.00896486 -0.35831668 0.39897507
+v -0.01961669 -0.35831668 0.39897507
+v -0.05865891 -0.35831668 0.39896757
+v -0.08468706 -0.35831668 0.39895634
+v -0.14977192 -0.36396144 0.37605355
+v -0.15701807 -0.36392636 0.36871685
+v -0.15701807 -0.00626622 0.39379269
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_70.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc4e20deb88c10ea0143117338401ef9873fd03
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_70.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.08386414 -0.26784636 -0.24872156
+v 0.08386414 -0.28366707 -0.24872162
+v 0.08386414 -0.26784395 -0.24839176
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_71.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7b28a42eed043b48bcfce59fa1899921a08d8a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_71.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v 0.15787316 0.24283215 -0.25802533
+v 0.16851812 0.24283235 -0.31333519
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_72.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..501657925003c36c424308a9e08d6fb36cdd3eb1
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_72.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.04749097 -0.00171982 -0.03295352
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_73.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3c2627bfa367ae96f82d42af71ed1696c10082
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_73.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06918696 -0.33791585 0.32175648
+v 0.06918696 -0.33791585 0.32460629
+v 0.06918696 -0.33691585 0.32175648
+v 0.06918696 -0.33691585 0.32460629
+v 0.07455739 -0.33791585 0.32175648
+v 0.07455739 -0.33791585 0.32460629
+v 0.07455739 -0.33691585 0.32175648
+v 0.07455739 -0.33691585 0.32460629
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_74.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2966c85dccd5ce98f5ab887e70015ff3ef696858
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_74.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05017772 0.29598935 -0.03443571
+v -0.05585481 0.29598935 -0.03443571
+v -0.04801492 0.29598939 -0.04621421
+v -0.04622488 0.33581925 -0.05907152
+v -0.04698236 0.33581924 -0.05652400
+v -0.04802888 0.33581923 -0.05493555
+v -0.05615581 0.29598935 -0.03467547
+v -0.05730199 0.33581923 -0.05493555
+v -0.04698236 0.29598944 -0.05940133
+v -0.04495511 0.33581929 -0.07114972
+v -0.05967210 0.33581925 -0.05907152
+v -0.06040167 0.29598939 -0.04666376
+v -0.04446873 0.33581944 -0.11217966
+v -0.04448468 0.33581944 -0.11077103
+v -0.04549133 0.29599047 -0.34061673
+v -0.06162360 0.33581930 -0.07258832
+v -0.06240899 0.29598944 -0.05940133
+v -0.04335843 0.33582028 -0.34061659
+v -0.06107742 0.29599047 -0.34061673
+v -0.06242493 0.29598944 -0.05985089
+v -0.06302892 0.33581959 -0.15177100
+v -0.06372261 0.33582028 -0.34061659
+v -0.06159569 0.29970988 -0.34061672
+v -0.06250068 0.29598968 -0.12536691
+v -0.06249071 0.29598949 -0.07303801
+v -0.06305285 0.33581959 -0.15341938
+v -0.06313457 0.33581964 -0.16495811
+v -0.06352327 0.33581988 -0.23131331
+v -0.06254055 0.29598963 -0.11262936
+v -0.06254055 0.29598963 -0.11217980
+v -0.06253258 0.29598959 -0.09944223
+v -0.06251862 0.29598954 -0.08625510
+f 1 2 7
+f 1 7 12
+f 1 12 17
+f 1 17 20
+f 1 20 25
+f 1 25 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 24
+f 1 24 19
+f 1 19 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 14
+f 4 14 13
+f 4 13 18
+f 4 18 22
+f 4 22 28
+f 4 28 27
+f 4 27 26
+f 4 26 21
+f 4 21 16
+f 4 16 11
+f 4 11 8
+f 4 8 6
+f 4 6 5
+f 7 8 11
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 9 15 13
+f 11 16 17
+f 11 17 12
+f 13 15 18
+f 15 19 23
+f 15 23 22
+f 15 22 18
+f 16 20 17
+f 16 21 20
+f 19 24 23
+f 20 21 26
+f 20 26 27
+f 20 27 28
+f 20 28 25
+f 22 23 24
+f 22 24 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 28
+f 25 28 32
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_75.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..948a3142522b5959c3c69a749fb368455fad94a9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_75.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.14962708 0.13781635 -0.37851105
+v 0.16263512 0.00649220 -0.37824995
+v 0.16263512 -0.00169462 -0.37821169
+v 0.12359839 0.24283259 -0.37828098
+v 0.13702809 0.24283259 -0.37837668
+v 0.14962708 0.15098228 -0.37849188
+v 0.16263512 0.01965812 -0.37817334
+v 0.17220078 0.00649218 -0.37366245
+v 0.17217561 -0.00169464 -0.37362421
+v 0.14962708 -0.00169462 -0.37729293
+v 0.12267959 0.24283259 -0.37818528
+v 0.14962078 0.24283259 -0.37718357
+v 0.14962708 0.16412427 -0.37831957
+v 0.16263512 0.09846219 -0.37740102
+v 0.17211268 0.01965810 -0.37357947
+v 0.17648016 0.00649214 -0.36284775
+v 0.17647386 -0.00169468 -0.36284778
+v 0.14474984 -0.00169463 -0.37654004
+v 0.11694019 0.24283258 -0.37516097
+v 0.13661903 -0.00169463 -0.37528310
+v 0.12694638 -0.00169464 -0.37201636
+v 0.14974036 0.24283259 -0.37715164
+v 0.16263512 0.11160418 -0.37722232
+v 0.17196794 0.03280009 -0.37341353
+v 0.17631654 0.01965806 -0.36284770
+v 0.17785837 0.00649209 -0.34965951
+v 0.17786466 -0.00169473 -0.34965954
+v 0.11694019 0.22258095 -0.36957185
+v 0.11694019 0.24283245 -0.34077078
+v 0.12656250 -0.00169466 -0.36629318
+v 0.16053948 0.24283257 -0.37334257
+v 0.16263512 0.12469829 -0.37674375
+v 0.17106800 0.09846217 -0.37230948
+v 0.17180431 0.04594208 -0.37318379
+v 0.17606480 0.03280005 -0.36284765
+v 0.17753112 0.03280000 -0.34965941
+v 0.17769475 0.01965801 -0.34965946
+v 0.18122523 0.00649196 -0.31334245
+v 0.18119376 -0.00169486 -0.31334248
+v 0.18122523 0.00469660 -0.31334245
+v 0.11694019 0.21468139 -0.36291715
+v 0.12635482 -0.00169468 -0.36284778
+v 0.13300674 0.24283235 -0.31333521
+v 0.11694019 0.21702728 -0.35346781
+v 0.13502056 -0.00169486 -0.31334248
+v 0.16670682 0.24283253 -0.36296811
+v 0.16907306 0.16967787 -0.36922750
+v 0.16932479 0.16089261 -0.36969968
+v 0.17075964 0.11160416 -0.37192024
+v 0.17415167 0.09846213 -0.36284741
+v 0.17454185 0.08534408 -0.36284746
+v 0.17570609 0.04594204 -0.36284760
+v 0.17591378 0.09846208 -0.34965917
+v 0.17662491 0.07222598 -0.34965926
+v 0.17695215 0.05906004 -0.34965931
+v 0.17726052 0.04594199 -0.34965936
+v 0.18098609 0.01649805 -0.31334241
+v 0.17196164 0.19603346 -0.31333538
+v 0.16850667 0.24283235 -0.31333521
+v 0.13456745 0.19603346 -0.31333538
+v 0.16677605 0.24283253 -0.36284049
+v 0.17049533 0.17726619 -0.36183264
+v 0.17358529 0.11160412 -0.36284736
+v 0.17541661 0.11160407 -0.34965912
+v 0.17609627 0.11160404 -0.34085422
+v 0.17625989 0.10719944 -0.34086061
+v 0.18087911 0.02035208 -0.31334240
+v 0.17715353 0.12469806 -0.31334201
+v 0.17671300 0.13458447 -0.31334198
+v 0.17655568 0.13781611 -0.31334196
+v 0.17566204 0.15098204 -0.31334192
+v 0.16860737 0.24283244 -0.33647680
+v 0.16860737 0.24283248 -0.34977987
+v 0.16914857 0.22339480 -0.35627515
+v 0.17478099 0.12469819 -0.34965907
+v 0.17571869 0.12036537 -0.34086056
+v 0.17642352 0.11160403 -0.33647091
+v 0.17586343 0.12469815 -0.33647086
+v 0.17667525 0.12469810 -0.32328262
+v 0.17603334 0.13781615 -0.32328257
+v 0.16861995 0.24283248 -0.34965864
+v 0.17213156 0.17726614 -0.34965888
+v 0.17281751 0.16412416 -0.34965893
+v 0.17413279 0.13781624 -0.34965902
+v 0.17550472 0.12469816 -0.34086054
+v 0.17519005 0.13781620 -0.33647081
+f 1 2 3
+f 1 3 4
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+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 3 9 17
+f 3 17 27
+f 3 27 39
+f 3 39 45
+f 3 45 42
+f 3 42 30
+f 3 30 21
+f 3 21 20
+f 3 20 18
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+f 3 10 4
+f 4 11 19
+f 4 19 29
+f 4 29 43
+f 4 43 59
+f 4 59 72
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+f 4 73 61
+f 4 61 46
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+f 4 22 12
+f 4 12 5
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+f 8 15 16
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+f 10 18 11
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+f 11 20 21
+f 11 21 19
+f 12 22 23
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+f 13 23 14
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 37
+f 16 37 26
+f 16 26 27
+f 16 27 17
+f 19 28 41
+f 19 41 44
+f 19 44 29
+f 19 21 28
+f 21 30 28
+f 22 31 23
+f 23 32 33
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+f 23 34 24
+f 23 31 32
+f 24 34 35
+f 24 35 25
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+f 27 40 39
+f 28 30 42
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+f 29 42 45
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+f 31 46 47
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+f 36 56 38
+f 36 38 37
+f 38 56 55
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+f 38 58 40
+f 39 40 58
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+f 39 60 45
+f 41 42 44
+f 43 45 60
+f 43 60 58
+f 43 58 59
+f 46 61 47
+f 47 62 63
+f 47 63 48
+f 47 61 62
+f 48 63 49
+f 49 63 50
+f 50 53 51
+f 50 63 64
+f 50 64 53
+f 51 53 52
+f 53 64 65
+f 53 65 66
+f 53 66 67
+f 53 67 57
+f 53 57 54
+f 54 57 55
+f 57 67 58
+f 58 67 68
+f 58 68 69
+f 58 69 70
+f 58 70 71
+f 58 71 59
+f 59 71 72
+f 61 73 74
+f 61 74 62
+f 62 74 63
+f 63 74 64
+f 64 74 75
+f 64 75 76
+f 64 76 65
+f 65 77 66
+f 65 76 78
+f 65 78 77
+f 66 77 67
+f 67 77 79
+f 67 79 68
+f 68 79 69
+f 69 79 70
+f 70 79 80
+f 70 80 81
+f 70 81 71
+f 71 81 72
+f 73 81 74
+f 74 81 82
+f 74 82 83
+f 74 83 84
+f 74 84 75
+f 75 84 85
+f 75 85 76
+f 76 85 78
+f 77 78 79
+f 78 86 80
+f 78 80 79
+f 78 85 84
+f 78 84 83
+f 78 83 86
+f 80 86 81
+f 81 86 82
+f 82 86 83
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_76.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c2fb6fb4d4621281772a66ac84db42bc4dac11
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_76.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.13300399 0.24283235 -0.31333519
+v 0.11693881 0.24283229 -0.29799721
+v 0.15787314 0.24283235 -0.31333519
+v 0.13501564 -0.00171878 -0.31333609
+v 0.11693881 -0.00171884 -0.29761371
+v 0.11693881 0.06576252 -0.29781378
+v 0.11693881 0.07890451 -0.29784079
+v 0.11693881 0.24283223 -0.27989264
+v 0.15787314 0.24283215 -0.25802533
+v 0.15787314 0.13592502 -0.31333558
+v 0.15055185 -0.00171878 -0.31333609
+v 0.11693881 -0.00171890 -0.27992062
+v 0.13276756 0.24283215 -0.25802533
+v 0.11693881 0.02906543 -0.27976891
+v 0.15787314 0.14815715 -0.25802568
+v 0.15054785 -0.00171879 -0.31007683
+v 0.13446264 -0.00171898 -0.25802623
+v 0.13407392 0.04591774 -0.25802605
+v 0.14972235 -0.00171898 -0.25802623
+v 0.15048373 -0.00171881 -0.30512298
+f 1 2 8
+f 1 8 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 5
+f 2 5 12
+f 2 12 14
+f 2 14 8
+f 3 9 15
+f 3 15 10
+f 4 11 16
+f 4 16 20
+f 4 20 19
+f 4 19 17
+f 4 17 12
+f 4 12 5
+f 8 14 13
+f 9 13 18
+f 9 18 17
+f 9 17 19
+f 9 19 15
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 12 13 14
+f 15 19 20
+f 15 20 16
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_77.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0552166cb162dd0ff2e49baf9993ec4b3d28aaf
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_77.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.07912981 0.34551675 -0.30925404
+v -0.07912981 0.34262398 -0.34566466
+v -0.07912981 0.36398318 -0.30925397
+v -0.15850555 0.34262385 -0.30925405
+v -0.07912981 0.34262410 -0.37889241
+v -0.07912981 0.36435801 -0.36285207
+v -0.08470195 0.36436654 -0.36285207
+v -0.09771680 0.36436868 -0.36285207
+v -0.14977621 0.36390229 -0.30925397
+v -0.17884434 0.34262385 -0.30925405
+v -0.07928817 0.34262410 -0.37889241
+v -0.07912981 0.34808422 -0.38071816
+v -0.07912981 0.36228256 -0.36831542
+v -0.11073165 0.36433673 -0.36285207
+v -0.14977621 0.36418768 -0.34965890
+v -0.16279106 0.36400674 -0.34965890
+v -0.15058777 0.36388953 -0.30925397
+v -0.17951737 0.34726228 -0.30925403
+v -0.18023986 0.34808410 -0.34965896
+v -0.17916106 0.34262397 -0.34418165
+v -0.13667227 0.34262410 -0.37866156
+v -0.09771680 0.34808422 -0.37996267
+v -0.14977621 0.35902143 -0.37344300
+v -0.11073165 0.35948337 -0.37468816
+v -0.07912981 0.35462144 -0.37775213
+v -0.14977621 0.34262410 -0.37849367
+v -0.07912981 0.35949615 -0.37544365
+v -0.09771680 0.35950251 -0.37500296
+v -0.12374650 0.36421327 -0.36285207
+v -0.13676135 0.36403446 -0.36285207
+v -0.16279106 0.36343416 -0.36285208
+v -0.17482607 0.35888941 -0.36285209
+v -0.17505372 0.35921293 -0.34965892
+v -0.17482607 0.35902759 -0.30925399
+v -0.16354324 0.36340205 -0.30925398
+v -0.16279106 0.36369155 -0.30925397
+v -0.14977621 0.36384713 -0.36285207
+v -0.17963613 0.34808396 -0.30925403
+v -0.17970540 0.34808415 -0.36285213
+v -0.17860682 0.34262402 -0.35736783
+v -0.11073165 0.34808421 -0.37934708
+v -0.16279106 0.35871703 -0.37293933
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+v -0.16279106 0.34262410 -0.37764024
+v -0.14977621 0.34808421 -0.37714356
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+v -0.17295549 0.34262408 -0.37377182
+v -0.16279106 0.34808420 -0.37618519
+v -0.16883826 0.34262409 -0.37568156
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_78.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efe94a631941805b91ab2c11b194330e37283d9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_78.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v -0.13032041 0.33270141 0.36763667
+v -0.14790088 0.33270148 0.34958599
+v -0.15286366 0.33270141 0.36763667
+v -0.15286366 0.26602635 0.36763643
+v -0.15286366 0.29623773 0.35047293
+v -0.15286366 0.33270148 0.34958599
+v -0.15286366 0.30242489 0.34958588
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 5
+f 3 5 4
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_79.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164f84a21f2ea649e18a5d0f0567c54014462be0
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_79.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.11400242 -0.34395584 -0.29269570
+v 0.11400242 -0.34395551 -0.38285312
+v 0.11400242 -0.33832485 -0.32344540
+v 0.00255429 -0.34395584 -0.29295165
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+v -0.00896486 -0.33832478 -0.34309204
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_8.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08c72ff4ff96f2fb48cfd08ef9b3fb03076843c
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.16952408 0.30024779 0.03557505
+v 0.16917662 0.30255545 -0.01517092
+v 0.16934539 0.30577438 0.03557507
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+v 0.16899793 0.31234468 0.03557510
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+v 0.11881554 0.33978906 0.03557520
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+v 0.16646151 0.32180859 -0.34962320
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+v 0.16551842 0.32180864 -0.36285570
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+v 0.16171627 0.34808347 -0.33643344
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+v 0.12359552 0.36394522 0.01977338
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_80.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e95a6e803dba3411a083b7a7786561172f83e9
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_80.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.08453391 0.34110410 -0.31842156
+v 0.08140356 0.31469811 -0.35573507
+v 0.08453391 0.31954038 -0.35396304
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+f 25 39 26
+f 26 28 27
+f 29 32 40
+f 29 40 30
+f 30 40 33
+f 31 41 32
+f 32 41 42
+f 32 42 40
+f 33 40 43
+f 33 43 34
+f 34 43 35
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 37 47 46
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 40 42 55
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 42 59 55
+f 43 46 44
+f 44 47 45
+f 44 46 47
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 48 63 49
+f 49 63 50
+f 50 63 51
+f 51 63 54
+f 51 54 52
+f 52 54 53
+f 54 63 64
+f 54 64 65
+f 54 65 59
+f 55 59 56
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+f 56 66 65
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+f 63 69 64
+f 64 69 70
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+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_81.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae44695b56c637ea1397f32be05f252c13eb44cb
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_81.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.11925845 0.24283245 -0.33977232
+v 0.11925845 0.24359110 -0.33929690
+v 0.10361426 0.24882302 -0.34254215
+v 0.11057059 0.24283246 -0.34347924
+v 0.11925845 0.24283258 -0.37591127
+v 0.11925845 0.25267808 -0.33605848
+v 0.11925845 0.25630836 -0.33488024
+v 0.11057059 0.25611732 -0.33805662
+v 0.10250517 0.25611733 -0.34137078
+v 0.10146021 0.24283249 -0.35005934
+v 0.11424870 0.24283258 -0.37436099
+v 0.11501450 0.24913791 -0.39635440
+v 0.11925845 0.24916601 -0.39631995
+v 0.11925845 0.26925607 -0.33368130
+v 0.11057059 0.26925608 -0.33652004
+v 0.10126782 0.26925609 -0.34030276
+v 0.08072325 0.28238940 -0.38924361
+v 0.10112824 0.24283252 -0.36056687
+v 0.08454471 0.26925627 -0.38924366
+v 0.11370924 0.24283257 -0.37415428
+v 0.08979214 0.26142250 -0.39697447
+v 0.09755953 0.25903976 -0.39820784
+v 0.11063472 0.25527458 -0.39860744
+v 0.11925845 0.25583655 -0.39912425
+v 0.10112824 0.24283252 -0.36064266
+v 0.11057059 0.29552796 -0.33431511
+v 0.11925845 0.29552795 -0.33214469
+v 0.09990220 0.29552797 -0.33889017
+v 0.10051333 0.28238922 -0.33971703
+v 0.08297916 0.29552816 -0.38924356
+v 0.08706845 0.29552819 -0.39844883
+v 0.08587260 0.28238943 -0.39880030
+v 0.08758904 0.26925630 -0.39817335
+v 0.09984562 0.30024286 -0.33876615
+v 0.08949789 0.26110214 -0.38924369
+v 0.09755953 0.26925631 -0.40123258
+v 0.11057059 0.26925632 -0.40205942
+v 0.11925845 0.26048963 -0.40027488
+v 0.11057059 0.30024285 -0.33406016
+v 0.11925845 0.30024284 -0.33192420
+v 0.10372743 0.30024286 -0.33699535
+v 0.08564248 0.30024305 -0.38924355
+v 0.08647996 0.30024307 -0.39373594
+v 0.08830203 0.30024308 -0.39783561
+v 0.09297228 0.30024309 -0.39920677
+v 0.09755953 0.29552820 -0.40152184
+v 0.09755953 0.28238945 -0.40189397
+v 0.11057059 0.28238945 -0.40213515
+v 0.11925845 0.28238945 -0.40229361
+v 0.11925845 0.26925632 -0.40214209
+v 0.11925845 0.30024310 -0.40172168
+v 0.09784624 0.30024309 -0.40035741
+v 0.11057059 0.30024309 -0.40153561
+v 0.11057059 0.29552821 -0.40212821
+v 0.11925845 0.29552821 -0.40231423
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 20
+f 1 20 11
+f 1 11 5
+f 1 5 13
+f 1 13 24
+f 1 24 38
+f 1 38 50
+f 1 50 49
+f 1 49 55
+f 1 55 51
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+f 1 27 14
+f 1 14 7
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+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 4
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 19
+f 10 19 18
+f 11 20 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
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+f 12 20 25
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+f 14 26 15
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+f 28 41 34
+f 30 42 43
+f 30 43 31
+f 30 34 42
+f 31 44 45
+f 31 45 46
+f 31 46 32
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+f 32 46 47
+f 32 47 36
+f 32 36 33
+f 34 41 39
+f 34 39 40
+f 34 40 51
+f 34 51 53
+f 34 53 52
+f 34 52 45
+f 34 45 44
+f 34 44 43
+f 34 43 42
+f 36 47 37
+f 37 48 49
+f 37 49 50
+f 37 50 38
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+f 45 52 46
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+f 46 53 54
+f 46 54 47
+f 47 54 55
+f 47 55 48
+f 48 55 49
+f 51 55 54
+f 51 54 53
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_82.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff6635208c6faf90ffd7e762bb4fb6bafe98e3f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_82.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.17877195 0.24297430 -0.33946890
+v -0.17128674 0.24297438 -0.36264359
+v -0.16067788 0.24297430 -0.33946890
+v -0.17871400 0.24695353 -0.33946888
+v -0.17715480 0.26898063 -0.39126892
+v -0.16850547 0.24297440 -0.36886518
+v -0.17488975 0.26898065 -0.39820676
+v -0.17043340 0.26205841 -0.39657398
+v -0.15432520 0.24297686 -0.33946890
+v -0.15430941 0.24297430 -0.33949924
+v -0.17826099 0.25611357 -0.33946885
+v -0.17806082 0.25909480 -0.33946884
+v -0.17731810 0.26898044 -0.33946880
+v -0.16237930 0.24297442 -0.37183942
+v -0.17452629 0.26898065 -0.39828566
+v -0.16279543 0.26073201 -0.39778191
+v -0.15175464 0.25351932 -0.33946886
+v -0.12909887 0.24297435 -0.35507449
+v -0.14927889 0.26898044 -0.33946880
+v -0.14978457 0.25985878 -0.39855883
+v -0.14978457 0.24297442 -0.37240998
+v -0.16279543 0.26898066 -0.40067717
+v -0.16242144 0.26898066 -0.40071360
+v -0.15128056 0.25611357 -0.33946885
+v -0.12809803 0.25611362 -0.35386653
+v -0.12820866 0.24297438 -0.36286210
+v -0.12759762 0.26898049 -0.35305312
+v -0.14991626 0.26398289 -0.33946882
+v -0.13676844 0.24297441 -0.37125065
+v -0.14978457 0.26898066 -0.40147235
+v -0.13676844 0.26898066 -0.40036762
+v -0.13676844 0.26105534 -0.39750873
+v -0.12937279 0.24297441 -0.37025519
+v -0.12496384 0.26898063 -0.39107467
+v -0.12556961 0.26898065 -0.39730844
+v -0.12496384 0.26898063 -0.39124464
+v -0.13649452 0.26898066 -0.40030693
+v -0.12974152 0.26230282 -0.39629476
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 29
+f 1 29 33
+f 1 33 26
+f 1 26 18
+f 1 18 10
+f 1 10 3
+f 1 3 9
+f 1 9 17
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+f 1 24 28
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+f 20 33 29
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+f 26 35 36
+f 26 36 34
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 33 38 35
+f 35 38 37
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_83.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf394ef26e5f6f64066d1fbecc33f8cfdf479c0a
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_83.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.18128778 -0.25373301 -0.32640626
+v -0.17948621 -0.26942138 -0.32446489
+v -0.18128778 -0.25373301 -0.32630919
+v -0.18090375 -0.25373299 -0.33341781
+v -0.17939585 -0.26946425 -0.38924883
+v -0.17948057 -0.26946449 -0.32446489
+v -0.18067785 -0.25591216 -0.32446484
+v -0.18071173 -0.25544554 -0.32446484
+v -0.18121437 -0.25373301 -0.32604786
+v -0.17528442 -0.25373293 -0.34967353
+v -0.17043315 -0.26217371 -0.39658892
+v -0.17503028 -0.26946422 -0.39803009
+v -0.15798026 -0.26946449 -0.32446489
+v -0.18073432 -0.25373302 -0.32446483
+v -0.17451635 -0.25373292 -0.35186884
+v -0.16279763 -0.26108489 -0.39754468
+v -0.16279763 -0.26942110 -0.40014323
+v -0.16459921 -0.26946421 -0.39984453
+v -0.17133111 -0.25373288 -0.36077701
+v -0.16860334 -0.25373287 -0.36608607
+v -0.16321556 -0.25373283 -0.37512863
+v -0.15798026 -0.26942138 -0.32446489
+v -0.12686779 -0.26946438 -0.35298148
+v -0.12683391 -0.26942127 -0.35299642
+v -0.15830782 -0.25373302 -0.32446483
+v -0.14978563 -0.26043191 -0.39809725
+v -0.14984211 -0.25373282 -0.37870533
+v -0.14978563 -0.26942110 -0.40073314
+v -0.16279763 -0.26946421 -0.40015069
+v -0.15816099 -0.25783876 -0.32446485
+v -0.12682261 -0.26946438 -0.35303374
+v -0.12360914 -0.26946435 -0.36286037
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+v -0.12767539 -0.25628320 -0.35400441
+v -0.12796906 -0.25373291 -0.35428069
+v -0.13676798 -0.26155614 -0.39711904
+v -0.13676798 -0.26942110 -0.39971759
+v -0.14978563 -0.25373282 -0.37871281
+v -0.13575706 -0.25373282 -0.37824239
+v -0.14978563 -0.26946421 -0.40073314
+v -0.14974045 -0.26946421 -0.40073314
+v -0.12359785 -0.26946435 -0.36290517
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+v -0.12501539 -0.25373288 -0.36286031
+v -0.13000784 -0.26267422 -0.39605125
+v -0.13637265 -0.26946421 -0.39962798
+v -0.13672281 -0.26946421 -0.39971759
+v -0.12730265 -0.25373284 -0.37346349
+v -0.12569309 -0.26946422 -0.39685774
+f 1 2 3
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+f 24 34 25
+f 24 25 30
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+f 28 40 29
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+f 33 35 34
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+f 39 49 46
+f 44 50 49
+f 44 49 45
+f 46 50 47
+f 46 49 50
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_84.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea1b3faedd6609c634e2e3c95f53c3c90505718
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_84.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.11881554 0.30024287 -0.33203879
+v 0.11881554 0.33941298 -0.31841488
+v 0.08454642 0.34110591 -0.31841488
+v 0.11057283 0.30024288 -0.33406075
+v 0.11881554 0.30024313 -0.40169860
+v 0.11881554 0.36431601 -0.31841479
+v 0.08454642 0.36444187 -0.31841479
+v 0.08454642 0.31953852 -0.35397049
+v 0.09984758 0.30024289 -0.33876509
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+v 0.11881554 0.36446705 -0.31843923
+v 0.11879540 0.36446705 -0.31841479
+v 0.09276228 0.36452369 -0.31841479
+v 0.08454642 0.36452999 -0.31842293
+v 0.08454642 0.31627857 -0.36196050
+v 0.08564343 0.30024308 -0.38924072
+v 0.11881554 0.30866998 -0.40081808
+v 0.11881554 0.30333946 -0.40138063
+v 0.09784479 0.30024312 -0.40035335
+v 0.11057283 0.30866998 -0.40045931
+v 0.11577946 0.36447962 -0.31841479
+v 0.11881554 0.36447337 -0.32328216
+v 0.09755627 0.36451740 -0.31841479
+v 0.09755627 0.36451742 -0.32328216
+v 0.08454642 0.36453001 -0.32328216
+v 0.08454642 0.31663100 -0.36301224
+v 0.08454642 0.32336499 -0.37280406
+v 0.08454642 0.33862025 -0.38463411
+v 0.08454642 0.34807926 -0.38698215
+v 0.08647878 0.30024310 -0.39373307
+v 0.11881554 0.35813614 -0.38540856
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+f 23 24 38
+f 23 38 39
+f 24 40 41
+f 24 41 38
+f 25 39 38
+f 25 38 26
+f 26 38 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 31 34 37
+f 31 37 44
+f 31 44 32
+f 33 36 46
+f 33 46 45
+f 34 47 35
+f 35 47 48
+f 35 48 36
+f 36 48 46
+f 40 49 41
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 43 50 51
+f 45 46 52
+f 45 52 53
+f 46 48 52
+f 47 52 48
+f 50 52 51
+f 50 53 52
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_85.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5240742e1f0db1f389e3c3cd06c2eba8274709f
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_85.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.14162684 0.24283136 -0.04347556
+v 0.14162684 0.24291566 -0.04339669
+v 0.13928381 0.24283137 -0.04596793
+v 0.14162684 0.24283191 -0.19355378
+v 0.14162684 0.24414074 -0.04229247
+v 0.11925848 0.27384066 -0.05054240
+v 0.13332548 0.24283142 -0.05926580
+v 0.13232695 0.24283191 -0.19355378
+v 0.14162684 0.30024233 -0.19355357
+v 0.14162684 0.25611622 -0.03708686
+v 0.14162684 0.26925496 -0.03240179
+v 0.11925848 0.27849375 -0.05054239
+v 0.11925848 0.26926629 -0.05929725
+v 0.13327073 0.24283142 -0.05939200
+v 0.11925848 0.26651315 -0.19355369
+v 0.13230943 0.24283190 -0.19117184
+v 0.14162684 0.30024196 -0.09340152
+v 0.13133499 0.30024233 -0.19355357
+v 0.14162684 0.27361020 -0.03483104
+v 0.14162684 0.28781114 -0.05388653
+v 0.14162684 0.28978364 -0.05789325
+v 0.11925848 0.28196672 -0.05883973
+v 0.14162684 0.27778561 -0.03730762
+v 0.11925848 0.26645651 -0.07257935
+v 0.13274300 0.24283147 -0.07257944
+v 0.11925848 0.28668209 -0.19355362
+v 0.13223936 0.24283185 -0.17812635
+v 0.13221965 0.24283181 -0.16492313
+v 0.11925848 0.26644562 -0.16492304
+v 0.13815608 0.30024198 -0.09838625
+v 0.14162684 0.29095255 -0.06130053
+v 0.13138753 0.30024228 -0.17845741
+v 0.11925848 0.28666518 -0.17749521
+v 0.11925848 0.28663703 -0.16411848
+v 0.11925848 0.28442815 -0.06819400
+v 0.11925848 0.26640598 -0.08578257
+v 0.13688383 0.30024199 -0.10193551
+v 0.13138973 0.30024227 -0.17812614
+v 0.11925848 0.28650211 -0.15006344
+v 0.11925848 0.28456866 -0.07257928
+v 0.13422985 0.30024203 -0.11215735
+v 0.13184301 0.30024218 -0.15173547
+v 0.13178388 0.30024218 -0.15353377
+v 0.13150360 0.30024223 -0.16558545
+v 0.13151236 0.30024223 -0.16492292
+v 0.11925848 0.28483844 -0.08138143
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 28
+f 1 28 27
+f 1 27 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 31
+f 1 31 21
+f 1 21 20
+f 1 20 23
+f 1 23 19
+f 1 19 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 15
+f 4 15 26
+f 4 26 18
+f 4 18 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 22
+f 6 22 35
+f 6 35 40
+f 6 40 46
+f 6 46 39
+f 6 39 34
+f 6 34 33
+f 6 33 26
+f 6 26 15
+f 6 15 29
+f 6 29 36
+f 6 36 24
+f 6 24 13
+f 6 13 14
+f 6 14 7
+f 8 16 15
+f 9 18 32
+f 9 32 38
+f 9 38 44
+f 9 44 45
+f 9 45 43
+f 9 43 42
+f 9 42 41
+f 9 41 37
+f 9 37 30
+f 9 30 17
+f 11 19 12
+f 12 20 21
+f 12 21 22
+f 12 19 23
+f 12 23 20
+f 13 24 14
+f 14 24 25
+f 15 16 27
+f 15 27 28
+f 15 28 29
+f 17 30 22
+f 17 22 31
+f 18 26 33
+f 18 33 34
+f 18 34 32
+f 21 31 22
+f 22 30 35
+f 24 36 28
+f 24 28 25
+f 28 36 29
+f 30 37 35
+f 32 34 38
+f 34 39 38
+f 35 37 41
+f 35 41 42
+f 35 42 43
+f 35 43 40
+f 38 39 44
+f 39 45 44
+f 39 46 45
+f 40 43 46
+f 43 45 46
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_86.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858351779c783bd7a9aa2241e1b83d20099b021e
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_86.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.07151830 -0.28523834 -0.03300219
+v 0.08386414 -0.28500117 -0.03300219
+v 0.07151830 -0.28512799 -0.01979886
+v 0.05850335 -0.28469858 -0.03300219
+v 0.07151830 -0.28358961 -0.24872162
+v 0.08386414 -0.28366730 -0.24872162
+v 0.08386414 -0.28463729 -0.01979886
+v 0.05850335 -0.28449826 -0.01979886
+v 0.07151830 -0.28045813 -0.00752292
+v 0.05850335 -0.28001650 -0.00793781
+v 0.04946306 -0.27982426 -0.01979884
+v 0.04937215 -0.27993461 -0.03300217
+v 0.05050310 -0.27814682 -0.24872160
+v 0.05850335 -0.28194982 -0.24872162
+v 0.08386414 -0.26784197 -0.24872156
+v 0.08386414 -0.28009010 -0.00830389
+v 0.05039400 -0.27833580 -0.01010989
+v 0.07151830 -0.26942132 -0.00273942
+v 0.05850335 -0.26942132 -0.00232452
+v 0.04699026 -0.26942126 -0.01979880
+v 0.04680480 -0.26942121 -0.03300213
+v 0.04897941 -0.26942042 -0.24872157
+v 0.08386414 -0.26772753 -0.23090559
+v 0.06228892 -0.24346604 -0.24872147
+v 0.07911854 -0.24346690 -0.01381937
+v 0.07955128 -0.24346693 -0.00571678
+v 0.08386414 -0.27027185 -0.00805980
+v 0.07844943 -0.24346695 -0.00000591
+v 0.07748940 -0.24924095 -0.00064049
+v 0.04961216 -0.26942130 -0.00847469
+v 0.06881276 -0.25297035 0.00028691
+v 0.06276894 -0.25297035 0.00028691
+v 0.05845971 -0.25692462 -0.00115302
+v 0.05503051 -0.24346695 -0.00088450
+v 0.05481596 -0.24346695 -0.00103094
+v 0.04671389 -0.24346688 -0.01979870
+v 0.04950306 -0.25628668 -0.00793772
+v 0.04938669 -0.24346692 -0.00747396
+v 0.04683389 -0.24346683 -0.03300203
+v 0.04892850 -0.24346604 -0.24872147
+v 0.04894305 -0.25628580 -0.24872152
+v 0.04896123 -0.26482411 -0.24872155
+v 0.08386414 -0.26720857 -0.12535220
+v 0.07935855 -0.24346693 -0.00452091
+v 0.08386414 -0.26953169 -0.00808420
+v 0.08386414 -0.26677960 -0.01918865
+v 0.07373291 -0.24346695 0.00053101
+v 0.07249652 -0.24417440 0.00057981
+v 0.07244924 -0.24346695 0.00060422
+v 0.06490719 -0.24346695 0.00050660
+v 0.06150344 -0.24346695 0.00045780
+v 0.05520506 -0.24346695 -0.00083570
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 15
+f 2 15 23
+f 2 23 43
+f 2 43 46
+f 2 46 45
+f 2 45 27
+f 2 27 16
+f 2 16 7
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 22
+f 5 22 42
+f 5 42 41
+f 5 41 40
+f 5 40 24
+f 5 24 15
+f 5 15 6
+f 7 16 9
+f 8 10 17
+f 8 17 11
+f 9 16 18
+f 9 18 19
+f 9 19 10
+f 10 19 17
+f 11 17 20
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 22
+f 15 24 25
+f 15 25 26
+f 15 26 23
+f 16 27 28
+f 16 28 29
+f 16 29 18
+f 17 19 30
+f 17 30 20
+f 18 29 31
+f 18 31 19
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 35
+f 19 35 30
+f 20 36 21
+f 20 30 37
+f 20 37 38
+f 20 38 36
+f 21 36 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 23 26 43
+f 24 40 39
+f 24 39 36
+f 24 36 38
+f 24 38 35
+f 24 35 34
+f 24 34 52
+f 24 52 51
+f 24 51 50
+f 24 50 49
+f 24 49 47
+f 24 47 28
+f 24 28 44
+f 24 44 26
+f 24 26 25
+f 26 44 45
+f 26 45 46
+f 26 46 43
+f 27 45 28
+f 28 47 31
+f 28 31 29
+f 28 45 44
+f 30 35 37
+f 31 47 48
+f 31 48 49
+f 31 49 32
+f 32 49 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 34
+f 35 38 37
+f 47 49 48
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_87.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7765f7704de715336039d7d1a8d8fb4f2bec8b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_87.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.12501107 -0.25373135 -0.36285988
+v -0.12548092 -0.25373135 -0.36141514
+v -0.12730373 -0.25373131 -0.37346703
+v -0.12784718 -0.24313788 -0.37160264
+v -0.12886614 -0.23000439 -0.37087490
+v -0.12972094 -0.22180158 -0.37005159
+v -0.12972094 -0.22180159 -0.36760296
+v -0.12677162 -0.24313791 -0.36285984
+v -0.13007758 -0.23584652 -0.35611416
+v -0.12796606 -0.25373138 -0.35427111
+v -0.12918316 -0.24313793 -0.35541836
+v -0.13575546 -0.25373129 -0.37824213
+v -0.13995585 -0.20372995 -0.37180966
+v -0.14177865 -0.19551220 -0.37086416
+v -0.12903597 -0.23087849 -0.36306694
+v -0.14177865 -0.19551221 -0.36698142
+v -0.15924253 -0.17741088 -0.32445709
+v -0.15830848 -0.25373149 -0.32445737
+v -0.14978317 -0.25373129 -0.37871484
+v -0.14978317 -0.20372994 -0.37459291
+v -0.15517235 -0.17741071 -0.37064101
+v -0.15517235 -0.17741073 -0.36537727
+v -0.18107662 -0.17741088 -0.32445709
+v -0.18073131 -0.25373149 -0.32445737
+v -0.14983978 -0.25373129 -0.37870422
+v -0.17068321 -0.17741071 -0.37116154
+v -0.16279758 -0.17741070 -0.37235133
+v -0.18284282 -0.17741086 -0.32860543
+v -0.18108794 -0.21686362 -0.32445724
+v -0.18129174 -0.25373148 -0.32630579
+v -0.18089547 -0.24313805 -0.32445733
+v -0.18245222 -0.24313803 -0.32947675
+v -0.16321648 -0.25373130 -0.37512955
+v -0.17068321 -0.17745553 -0.37116154
+v -0.17389860 -0.17745556 -0.36285960
+v -0.17388728 -0.17741074 -0.36288615
+v -0.18268998 -0.20373011 -0.32884985
+v -0.18284282 -0.17741085 -0.33109123
+v -0.18237297 -0.25049665 -0.32971581
+v -0.18129174 -0.25373148 -0.32640673
+v -0.18253713 -0.23000454 -0.32921643
+v -0.18261073 -0.21686360 -0.32900926
+v -0.18245222 -0.24313803 -0.33019914
+v -0.16859999 -0.25373134 -0.36608930
+v -0.17132855 -0.25373135 -0.36077243
+v -0.18268998 -0.20373011 -0.33076200
+v -0.17451564 -0.25373139 -0.35185966
+v -0.18237297 -0.25049665 -0.32999732
+v -0.18253713 -0.23000454 -0.33041686
+v -0.18090680 -0.25373146 -0.33341797
+v -0.17527986 -0.25373140 -0.34967131
+f 1 2 10
+f 1 10 18
+f 1 18 24
+f 1 24 30
+f 1 30 40
+f 1 40 50
+f 1 50 51
+f 1 51 47
+f 1 47 45
+f 1 45 44
+f 1 44 33
+f 1 33 25
+f 1 25 19
+f 1 19 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 10
+f 3 12 5
+f 3 5 4
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 16
+f 6 16 7
+f 7 9 15
+f 7 15 8
+f 7 16 17
+f 7 17 9
+f 8 15 9
+f 9 17 11
+f 10 11 17
+f 10 17 18
+f 12 19 20
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 16
+f 16 22 17
+f 17 22 21
+f 17 21 27
+f 17 27 26
+f 17 26 36
+f 17 36 38
+f 17 38 28
+f 17 28 23
+f 17 23 29
+f 17 29 31
+f 17 31 24
+f 17 24 18
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 23 28 29
+f 24 31 32
+f 24 32 30
+f 25 33 26
+f 26 34 35
+f 26 35 36
+f 26 33 34
+f 28 37 31
+f 28 31 29
+f 28 38 46
+f 28 46 37
+f 30 39 48
+f 30 48 40
+f 30 32 39
+f 31 41 32
+f 31 37 42
+f 31 42 41
+f 32 43 48
+f 32 48 39
+f 32 41 49
+f 32 49 43
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 35 46 38
+f 35 38 36
+f 35 45 47
+f 35 47 48
+f 35 48 43
+f 35 43 49
+f 35 49 46
+f 37 46 49
+f 37 49 41
+f 37 41 42
+f 40 48 50
+f 47 51 48
+f 48 51 50
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_88.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694a0cd59b742d6439a94f7c7084901988eac91b
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_88.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.11400242 -0.33832485 -0.32344823
+v 0.11400242 -0.30094869 -0.33439314
+v 0.11057237 -0.30094869 -0.33534191
+v 0.10010837 -0.30094867 -0.33921292
+v 0.09634735 -0.33832483 -0.33016556
+v 0.11400242 -0.33832464 -0.38077691
+v 0.11400242 -0.30094845 -0.40098185
+v 0.07984901 -0.30871212 -0.36285635
+v 0.07984901 -0.31215122 -0.35443887
+v 0.07984901 -0.33832479 -0.34114854
+v 0.09112538 -0.33832481 -0.33349763
+v 0.08585996 -0.30094851 -0.38354719
+v 0.11057237 -0.33832464 -0.38077691
+v 0.11400242 -0.31255350 -0.39726268
+v 0.11400242 -0.30919492 -0.39867445
+v 0.11091337 -0.30094845 -0.40079210
+v 0.07984901 -0.30852548 -0.36977103
+v 0.07984901 -0.33832464 -0.38058714
+v 0.08964438 -0.30094846 -0.39688315
+v 0.07984901 -0.30994136 -0.37371033
+v 0.09755422 -0.33832464 -0.38073135
+v 0.11145495 -0.30928638 -0.39849231
+v 0.09027288 -0.33832464 -0.38069341
+v 0.08453942 -0.33832464 -0.38064787
+v 0.10292663 -0.30094845 -0.39997994
+v 0.09027623 -0.30294605 -0.39653400
+v 0.09755422 -0.30498388 -0.39786987
+v 0.09755422 -0.30094845 -0.39919812
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 18
+f 1 18 24
+f 1 24 23
+f 1 23 21
+f 1 21 13
+f 1 13 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 2
+f 2 7 16
+f 2 16 25
+f 2 25 28
+f 2 28 19
+f 2 19 12
+f 2 12 4
+f 2 4 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 12 8
+f 6 13 14
+f 7 15 16
+f 8 12 17
+f 8 17 20
+f 8 20 18
+f 8 18 10
+f 8 10 9
+f 12 19 20
+f 12 20 17
+f 13 21 14
+f 14 22 15
+f 14 21 23
+f 14 23 24
+f 14 24 18
+f 14 18 22
+f 15 22 16
+f 16 22 25
+f 18 20 19
+f 18 19 26
+f 18 26 27
+f 18 27 22
+f 19 28 26
+f 22 27 28
+f 22 28 25
+f 26 28 27
+
diff --git a/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_9.obj b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3097470e4472d83b076aa38a8d844688f1af2db3
--- /dev/null
+++ b/dataset/home_appliances/electrical_appliances/9e823722f9c25c4e88401bbc1493a979/mjcf/mesh/air_conditioner_2_collision_9.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.16843463 -0.30095006 0.03860404
+v 0.17128365 -0.24346709 0.03860426
+v 0.14461838 -0.30095006 0.03860404
+v 0.16701478 -0.30094864 -0.34963466
+v 0.17125571 -0.24346707 0.03264134
+v 0.15278834 -0.24346709 0.03860426
+v 0.14572633 -0.28815480 0.03860409
+v 0.12373027 -0.27353060 -0.03671026
+v 0.12373027 -0.27933740 -0.03671029
+v 0.12373027 -0.28403007 -0.04617322
+v 0.12373027 -0.28604441 -0.05939539
+v 0.13291974 -0.30094965 -0.07330895
+v 0.16657719 -0.30094862 -0.35490623
+v 0.16903981 -0.24648160 -0.34963446
+v 0.16924930 -0.24346570 -0.34159744
+v 0.16929120 -0.24346571 -0.33645548
+v 0.16935171 -0.24346575 -0.32690616
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