diff --git a/.gitattributes b/.gitattributes
index 6b440dc53675152e1d180672657ecadf451890f8..3dc5dd868d51125d3a65c39dd3a038f12cab40f1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4906,3 +4906,5 @@ dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_
 dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df0cc31392c809b0dcaa3c24dcc6a3f394a4c809
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.glb b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.glb
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.glb
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.mtl b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fac1c248a9a3bdb9b8f99f27a3fb2ab94999815e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.mtl
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+newmtl photo_frame_009_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6462b633c4721ada6ebe998d952c3d3c6994de18
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.obj
@@ -0,0 +1,111422 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009_collision.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a4b24fa0774f35b1af0fa73372ae8072fd7bce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009_collision.obj
@@ -0,0 +1,9659 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff6cb6506009ce9a1899a79c42edd35cc0d0a1f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision.obj
@@ -0,0 +1,9659 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_0.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1809b06d725348cf86e398bfa5b523ff61ea3e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_1.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafd74e7a9d7f225b8e8914522df79afadf9cd8c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_1.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_10.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8889e0123fd4e5dd35701744a0c84766de92656
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_10.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_11.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dfec9961f2464a2f7d440313a6b4f7fa0e1c05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_11.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_12.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13332107a8320457df19ebffcd7b57e79a89336
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_12.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_13.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66b2030114c8746040041d442b8d7267ba37159
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_13.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_14.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28976203fb2f180f67338e864a19d6f953097ffa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_14.obj
@@ -0,0 +1,640 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_15.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f586a2f08e5fd3ca92cf1faf752b0dcf491b1c24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_16.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872695813f8b8f8e95b3daf012801d8c486d6d68
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_17.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e404c33ff3f04346473f6f483c8e772dcccac308
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_18.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3e404d5d332ef2fadaa2ea56cdc329b018885d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_19.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e111a6300f37c69b803490cb69e82d03f7728e7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_19.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_2.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72481d5681e30324880f5056a4099d3fca8ac4f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_2.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_20.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98c4ab8b658ce589773c10edb06a3a84c92050f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_21.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ab43ccc6580bed119908c38b2d8d376d9862df
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_22.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e4583999c4d909d0f47d22c17a3704b27f27ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_22.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_23.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40aab52fab0aba67eed847fa0d86ddbb2f31028
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_23.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_24.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e8a1a527b6b499e79064df9380f2b2c1b370c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_24.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_25.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e811f2e3b323e086bd3c975100023d2a4c205fc5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_25.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_26.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e092561df30b776d64375b866932ae322b90f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_26.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_27.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe1ec22d7acd9164f11eb6ed621138e9668f169
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_27.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_28.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbb260d1287a1b3a8b4ff606bd6d2eb69f7bcd9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_28.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_29.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa74532843dde12451f3a224981b893fbf8a0407
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_29.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_3.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4621c9c57859347084df3b27c87d47c7f9bb356f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_3.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_4.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a033a2a024e00a399a6e567ff0249b38c4f37ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_4.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_5.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb86e4f841d432afa034063025c087c4fadcfa1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_5.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_6.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239c843922ba005916bc66cb2ccef41cf628de23
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_6.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_7.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51009db488ba53775a661131060b9579e6b120cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_7.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_8.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e48503915e7d4be326bacbfd3b3afb9795c1e43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_8.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_9.obj b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345b0f4a3dccf97e44a41b3e3848ea960c5e788c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/mesh/photo_frame_009_collision_9.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/photo_frame_009.xml b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/photo_frame_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1d6be66486fae4b0df30a048d20d32f7fee8c7f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mjcf/photo_frame_009.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_009">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/photo_frame_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="photo_frame_009">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.urdf b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ebb8d714df9bfc21c9ac6b3de94c5dd94a20ff0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_009">
+   <link name="photo_frame_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_009.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>2a20bc8a1bb553ed853254506ba67b1b</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wooden frame</name>
+         <color>beige</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wooden photo frame with a stand</description>
+         <min_height>0.2200</min_height>
+         <max_height>0.2200</max_height>
+         <real_height>0.2200</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204227</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.usd b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.usd
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/textures/material_0.png b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/textures/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/video.mp4 b/dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/video.mp4
new file mode 100644
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