diff --git a/.gitattributes b/.gitattributes
index ec59d2ac0cad1f69f5f9d32af97f5960c40a2ae7..590fa409611fce25146393e5c2de7582c6dfddf9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4947,7 +4947,7 @@ dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_
 dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92830d987fa41f0ab0c83c1b9e77b8f68d072c66
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_027_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
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+Ns 1.00000000
+map_Kd photo_frame_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5774cf8bdd1ae22356f030e657eb66d06b078dac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3469585
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.glb b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0429426f257072756aa7a72659a10028fbf8612b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.mtl b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..730896947d857b748a8e52903d756928fddea6ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_027_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca78dd0286e0216bba61104c0a67122aeedc0f60
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0923ffdd3a290b802b05f6a089028f07e6d0417adc69cabb5f6a4ff6596fe43
+size 41085515
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027_collision.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a5966e08664a0d6eb12d8074915b25b528f974
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027_collision.obj
@@ -0,0 +1,4425 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mesh/photo_frame_027_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_0.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bce9ca71df2a04f2c142f273aeb9c4fe9320f0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_0.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_1.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3f9ed99d99529127743f23dff04eb281a6806a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_1.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v 0.04167229 -0.12502560 -0.00948924
+v 0.04167229 -0.13736643 0.00738131
+v 0.05571402 -0.13175810 0.00736971
+v 0.05571402 -0.13100870 0.01112829
+v 0.05571402 -0.12913509 -0.00894302
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+v 0.04167229 -0.13697939 -0.00584460
+v 0.04167229 -0.13533312 -0.00861298
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+f 34 36 35
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_10.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f3f6976062a1bf3ef3d3e06997c95702d0a6a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_10.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.05549248 -0.04917760 -0.00946393
+v -0.05316228 -0.04917760 -0.00946502
+v -0.05549248 -0.04917764 0.00140572
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+v -0.01229334 0.13896362 -0.00969110
+v -0.04818800 -0.04917760 -0.00946611
+v 0.01253047 0.13896362 -0.00969982
+v 0.01750474 -0.04917764 0.00140572
+v 0.01750474 -0.04531510 0.00140682
+v -0.05549248 0.07424630 0.00143561
+v -0.05549248 0.12802632 -0.00892580
+v -0.03712666 0.13397778 -0.00928992
+v -0.00236382 0.14392974 -0.00967146
+v 0.00260094 0.14392974 -0.00967473
+v 0.01139865 -0.04917760 -0.00946720
+v 0.03737330 0.12899195 -0.00961592
+v 0.04167229 -0.04917760 -0.00946393
+v 0.01253047 -0.04917760 -0.00946720
+v 0.04167229 -0.04917764 0.00140354
+v 0.04167229 -0.04598513 0.00140464
+v 0.04167229 0.07428572 0.00143561
+v 0.02254559 0.07426601 0.00143561
+v -0.04204387 0.07424630 0.00143561
+v -0.05549248 0.13023344 0.00143582
+v -0.05549248 0.12972108 -0.00584478
+v -0.04006558 0.13691410 -0.00841881
+v -0.00226871 0.14903380 -0.00885921
+v 0.00253437 0.14907322 -0.00886248
+v 0.03737330 0.13397778 -0.00925394
+v 0.04167229 0.12899194 -0.00940332
+v 0.04167229 0.12467615 -0.00951344
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+v -0.04053162 0.13738702 0.00143584
+v -0.04053162 0.13738704 -0.00143693
+v -0.04040797 0.13726880 -0.00584476
+v -0.00119396 0.15197010 -0.00584470
+v -0.00055672 0.15167452 -0.00830863
+v 0.00084140 0.15167452 -0.00830863
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+v 0.04167229 0.13364275 -0.00875570
+v 0.04167229 0.12966197 -0.00935425
+v 0.04167229 0.13626374 0.00026493
+v 0.04132989 0.13663816 0.00143584
+v -0.00150783 0.15214744 0.00143590
+v -0.00146027 0.15210804 -0.00143687
+v 0.00149766 0.15197010 -0.00584470
+v 0.04057852 0.13720968 -0.00584476
+v 0.04167229 0.13598786 -0.00584476
+v 0.04167229 0.13563316 -0.00710507
+v 0.04167229 0.13626375 -0.00143693
+v 0.04071168 0.13734760 0.00143584
+v 0.00180202 0.15214744 0.00143590
+v 0.00176397 0.15210804 -0.00143687
+v 0.04071168 0.13734762 -0.00143693
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+f 1 19 8
+f 1 8 3
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+f 1 24 25
+f 1 25 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
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+f 43 52 44
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+f 45 54 46
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+f 49 55 51
+f 52 55 53
+f 53 55 54
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_11.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338ac8c1d20161ac844072a1b89f21c154b4a8b9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_11.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.12252825 0.09378730 -0.00143464
+v 0.12245718 0.09378728 0.00297508
+v 0.12102550 0.07421411 0.01179182
+v 0.12105595 0.07421412 0.00738210
+v 0.12243180 0.09378731 -0.00584436
+v 0.12244702 0.09378728 0.00328163
+v 0.12227441 0.09378726 0.00738217
+v 0.12206626 0.09378725 0.01178665
+v 0.12199518 0.09378725 0.01205915
+v 0.12068534 0.09378723 0.01532386
+v 0.11986796 0.07421410 0.01457966
+v 0.11957351 0.07139701 0.01424427
+v 0.11999997 0.07082816 0.01179181
+v 0.11998981 0.07084861 0.00738209
+v 0.11955320 0.07142089 0.00496369
+v 0.11959382 0.08610250 -0.00828374
+v 0.12080211 0.09378732 -0.00890208
+v 0.12015227 0.08915121 -0.00864793
+v 0.12051781 0.09378723 0.01539460
+v 0.11684722 0.07421409 0.01595524
+v 0.10732807 0.05898752 0.01547047
+v 0.10909990 0.05898754 0.01167648
+v 0.10900851 0.05898760 -0.00514228
+v 0.10899836 0.05898760 -0.00563749
+v 0.10943497 0.06145383 -0.00808994
+v 0.10712499 0.05898761 -0.00875023
+v 0.11684722 0.08915121 -0.00941302
+v 0.11684722 0.09378733 -0.00960690
+v 0.11686753 0.09378723 0.01660773
+v 0.11187695 0.07421409 0.01699544
+v 0.10194657 0.05898752 0.01713426
+v 0.10716053 0.05898752 0.01552287
+v 0.10736868 0.05898761 -0.00840699
+v 0.10220042 0.05898762 -0.00953365
+v 0.10194657 0.05898762 -0.00957296
+v 0.10691176 0.07421419 -0.00960173
+v 0.11187695 0.08417108 -0.00960431
+v 0.07066790 0.09378732 -0.00944969
+v 0.11649691 0.09378723 0.01666013
+v 0.10691176 0.07421409 0.01716051
+v 0.10194657 0.05927024 0.01712902
+v 0.07066790 0.09378726 0.00761013
+v 0.07066790 0.08915115 0.00761798
+v 0.07711553 0.05927027 0.00870261
+v 0.07711553 0.05898755 0.00868689
+v 0.07066790 0.05898761 -0.00945505
+v 0.07066790 0.07569937 -0.00945499
+v 0.10337317 0.09378724 0.01438584
+v 0.10194657 0.06425039 0.01679366
+v 0.07066790 0.05898756 0.00561083
+v 0.07217573 0.05898756 0.00664579
+v 0.07231788 0.05898756 0.00674012
+v 0.07684646 0.05898755 0.00859256
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+f 1 38 42
+f 1 42 48
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_12.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c550e4a49d1142d6a6d5845aa53d71adfe1a0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_12.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.08085179 -0.14117072 0.00754857
+v -0.08085179 -0.14057277 0.01159380
+v -0.08085179 -0.14074276 -0.00584635
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+v -0.06196678 -0.13971696 0.01179018
+v -0.08085179 -0.14006807 0.01245784
+v -0.08085179 -0.13906956 -0.00885571
+v -0.07686706 -0.13830702 -0.00861271
+v -0.04810518 -0.13185015 -0.00584631
+v -0.05850139 -0.13847166 0.00738166
+v -0.05875784 -0.13821383 0.01179018
+v -0.05939578 -0.13757200 0.01405826
+v -0.06196678 -0.13807669 0.01443381
+v -0.08085179 -0.13847168 0.01451482
+v -0.08085179 -0.13498805 -0.00957737
+v -0.07686706 -0.13498806 -0.00938100
+v -0.04810518 -0.12996299 -0.00884832
+v -0.04810518 -0.13208609 0.00738168
+v -0.04810518 -0.13020444 0.01173130
+v -0.04810518 -0.12508612 0.01384966
+v -0.06196678 -0.13498814 0.01478729
+v -0.06693247 -0.13498815 0.01522912
+v -0.08085179 -0.13797246 0.01458355
+v -0.05700110 -0.12502568 -0.00964115
+v -0.05203541 -0.12502568 -0.00963869
+v -0.04810518 -0.12502568 -0.00959205
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+v -0.06693247 -0.13000697 0.01534206
+v -0.04810518 -0.09514414 0.00710936
+v -0.08085179 -0.13502655 0.01481184
+v -0.07189816 -0.13000697 0.01543533
+v -0.07691835 -0.08512686 -0.00946181
+v -0.07686706 -0.08512686 -0.00946181
+v -0.04810518 -0.08512686 -0.00945199
+v -0.08085179 -0.08512687 -0.00604251
+v -0.05700110 -0.12233221 0.01410004
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+v -0.08085179 -0.13400069 0.01486094
+v -0.06196678 -0.12225541 0.01416141
+v -0.08085179 -0.12188785 0.01426205
+v -0.08085179 -0.08512692 0.00811089
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+f 42 44 43
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_13.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9825aa2bc736cc09a144569ad92c9b6ded6ccb0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_13.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.12330423 -0.10510496 -0.00143616
+v -0.12327930 -0.10510498 0.00297275
+v -0.12260195 -0.10012469 -0.00143614
+v -0.12256870 -0.10012468 -0.00584504
+v -0.12321281 -0.10510495 -0.00584506
+v -0.12324605 -0.11008525 -0.00143617
+v -0.12312554 -0.10510501 0.01179055
+v -0.12241080 -0.10012474 0.01179057
+v -0.12254377 -0.10012471 0.00297277
+v -0.12319619 -0.11008527 0.00297274
+v -0.11988842 -0.08513262 0.01155490
+v -0.11993828 -0.08513261 0.00774957
+v -0.11993828 -0.08513261 0.00768222
+v -0.12126804 -0.09514440 -0.00584502
+v -0.11956014 -0.09164566 -0.00844321
+v -0.12016268 -0.09514439 -0.00879293
+v -0.12076107 -0.10012467 -0.00894060
+v -0.12108105 -0.10510494 -0.00891472
+v -0.12103118 -0.11008523 -0.00891473
+v -0.12312970 -0.11008524 -0.00584507
+v -0.12076938 -0.13498669 0.01179044
+v -0.12118077 -0.10510503 0.01566065
+v -0.12081925 -0.10012476 0.01553374
+v -0.12303828 -0.11008530 0.01179054
+v -0.11983440 -0.08513262 0.01177509
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+v -0.12063225 -0.11505980 -0.00891993
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+v -0.11992166 -0.13948262 0.01179043
+v -0.11963909 -0.13861649 0.01448448
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+v -0.11660143 -0.10012476 0.01659581
+v -0.11660143 -0.09514448 0.01632643
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_14.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e234701471f47175fa34894a30efe345ca621459
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_14.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_15.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db4ed62b6cf3e35656822f5a3e028867a0b02f02
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_15.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_16.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115406301757fd9936ecd50ffe314c56ee7dcf47
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_16.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_17.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eae99461faf393142cf9eef9cd16caf6bd68bb7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_17.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.08820311 0.06217148 -0.00946100
+v -0.08183452 0.06217148 -0.00946100
+v -0.08820311 0.06217142 0.00878910
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_18.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b75cf4e638553b15c2072d8ce2121c17d03b00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_19.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2e4c0aeb58bc886b11d5a63c4c3bd5c287e74c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.09278718 -0.08512521 0.01054543
+v -0.09278718 -0.06750835 0.01007810
+v -0.09808912 -0.06750837 0.01520900
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_2.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b982bf033a1c16b5ee8cd56fd0640c0d8e8c56c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_2.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04167229 0.05898761 -0.00945545
+v 0.07066282 0.05898761 -0.00945545
+v 0.04167229 0.05898757 0.00139492
+v 0.04167229 0.12469057 -0.00951360
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+v 0.05227699 0.12401982 -0.00963281
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+v 0.05724307 0.12401982 -0.00963037
+v 0.06220914 0.12401982 -0.00961091
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+v 0.04167229 0.12899589 -0.00940168
+v 0.07066282 0.12912848 -0.00939438
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+v 0.06717522 0.12899580 0.01522088
+v 0.06220914 0.12121971 0.01416259
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+v 0.04167229 0.12540024 0.01388769
+v 0.04167229 0.12966665 -0.00935301
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+v 0.04167229 0.13564106 -0.00710507
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+v 0.07066282 0.13346492 0.01469298
+v 0.06607417 0.13696689 0.01439619
+v 0.06314276 0.13696689 0.01439619
+v 0.04167229 0.12897241 0.01352034
+v 0.04167229 0.13599983 -0.00584487
+v 0.06717522 0.13842543 0.00738238
+v 0.07066282 0.13737249 0.00745292
+v 0.07066282 0.13592956 0.01339386
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+v 0.06751007 0.13778585 0.01211421
+v 0.06177780 0.13786385 0.01219450
+v 0.04167229 0.13474405 0.01107295
+v 0.04167229 0.13376911 0.01149869
+v 0.04167229 0.13626499 -0.00143417
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+v 0.07066282 0.13724769 0.01116297
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_20.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d1b128151e754c1bfb99a99e1fc356e89bf97e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.08647566 -0.00048769 0.01133951
+v 0.09335053 -0.00049557 0.01452753
+v 0.09802845 0.05898752 0.01545515
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+v 0.09698322 -0.00049558 0.01602341
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+v 0.08736312 -0.01006981 0.01133947
+v 0.09698322 -0.01046319 0.01561363
+v 0.10149153 -0.00548332 0.01774838
+v 0.10194906 0.05428299 0.01720201
+v 0.11684661 0.01941603 0.01924356
+v 0.11662967 0.02416775 0.01883853
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+v 0.11957999 0.02235832 0.01861176
+v 0.10716340 0.05898752 0.01552318
+v 0.10398431 -0.00210047 0.01854364
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+v 0.08743806 -0.01046317 0.01133947
+v 0.10427224 -0.00807947 0.01844978
+v 0.09433266 -0.01372015 0.01407160
+v 0.10397642 -0.00548332 0.01854206
+v 0.11684661 0.01444402 0.01932018
+v 0.12181245 -0.00049559 0.01925131
+v 0.12501915 -0.00464155 0.01888690
+v 0.12484954 -0.00049559 0.01877354
+v 0.11971804 0.03768344 0.01443071
+v 0.10732906 0.05898752 0.01547157
+v 0.11684661 -0.02042294 0.01932786
+v 0.10909609 0.05898754 0.01167753
+v 0.12003753 0.03943781 0.01133965
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_21.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba10eea457394c22215cbc5ec8f6292d306db857
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.06271637 -0.01044782 0.00200483
+v 0.07628525 0.00448015 0.00894465
+v 0.06271637 0.02987349 0.00200498
+v 0.06272263 -0.05478215 0.00200467
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_22.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3058da77bfb8571635ec13e33189bc417607bc5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_22.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.10931475 -0.05585470 0.01133930
+v 0.11777924 -0.07461831 0.01133924
+v 0.11780084 -0.07461831 0.01059181
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+v 0.09396306 -0.06317279 0.01133928
+f 1 2 3
+f 1 3 4
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+f 1 18 12
+f 1 12 6
+f 1 6 11
+f 1 11 19
+f 1 19 21
+f 1 21 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 7 15
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+f 2 17 16
+f 2 16 9
+f 2 9 8
+f 2 8 4
+f 2 4 3
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+f 5 8 9
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+f 5 16 10
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+f 12 18 13
+f 13 15 20
+f 13 20 21
+f 13 21 19
+f 13 18 17
+f 13 17 15
+f 14 20 15
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_23.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e07db077e6a8e57046cc9f4e0c41b6520c8584
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_23.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.10915769 -0.05667347 0.01179223
+v 0.11776363 -0.07461656 0.01189250
+v 0.11778236 -0.07461656 0.01133981
+v 0.10914129 -0.05667347 0.01133987
+v 0.10723043 -0.05667349 0.01557335
+v 0.11683864 -0.07461657 0.01279836
+v 0.09643495 -0.07461656 0.01133981
+v 0.09520085 -0.05667347 0.01133987
+v 0.10610639 -0.05667349 0.01591563
+v 0.11213171 -0.07461658 0.01560883
+v 0.09680026 -0.07461656 0.01192461
+v 0.09434376 -0.06710309 0.01133983
+v 0.09445616 -0.06027649 0.01133986
+v 0.09743019 -0.05667348 0.01457862
+v 0.10194978 -0.05667349 0.01709153
+v 0.10691429 -0.07461658 0.01700317
+v 0.09723817 -0.07461657 0.01252259
+v 0.09385902 -0.06525678 0.01133984
+v 0.09396674 -0.06317156 0.01133985
+v 0.09811633 -0.05667349 0.01540880
+v 0.10194978 -0.06027651 0.01719644
+v 0.10086086 -0.05667349 0.01661452
+v 0.10194978 -0.06525680 0.01711214
+v 0.10194978 -0.07023533 0.01673429
+v 0.10158680 -0.07461658 0.01581007
+v 0.09838797 -0.07461657 0.01380628
+v 0.09899214 -0.07421603 0.01459461
+v 0.09845354 -0.07023533 0.01511521
+v 0.09808588 -0.06525680 0.01539960
+v 0.09801797 -0.06027651 0.01547128
+v 0.09971340 -0.07461657 0.01488357
+f 1 2 3
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+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 22
+f 1 22 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 6 10
+f 2 10 16
+f 2 16 25
+f 2 25 31
+f 2 31 26
+f 2 26 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 2 5 6
+f 3 7 12
+f 3 12 18
+f 3 18 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
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+f 5 10 6
+f 7 11 12
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+f 9 15 10
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 13 19 14
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+f 16 21 23
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+f 26 31 27
+f 27 31 28
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_24.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4eb0a0b41677d0b559c532c442cc6e89bcc934
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_24.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.09498450 -0.04517584 0.01134012
+v 0.09520078 -0.05666826 0.01134008
+v 0.09743031 -0.05666827 0.01457920
+v 0.09811652 -0.05666828 0.01540866
+v 0.09815657 -0.05529347 0.01538451
+v 0.09694168 -0.03001842 0.01134018
+v 0.10914136 -0.05666826 0.01134008
+v 0.10086139 -0.05666828 0.01661388
+v 0.10194812 -0.05529347 0.01705123
+v 0.10194812 -0.05031239 0.01662950
+v 0.09854642 -0.05031239 0.01504307
+v 0.10063710 -0.03039149 0.01339201
+v 0.10134734 -0.02138270 0.01236612
+v 0.09963581 -0.02138269 0.01134021
+v 0.10915738 -0.05666826 0.01179223
+v 0.12026766 -0.04435027 0.01134013
+v 0.10194812 -0.05666828 0.01709098
+v 0.11365382 -0.02541042 0.01880616
+v 0.11396622 -0.02138272 0.01865337
+v 0.10312296 -0.03039149 0.01465102
+v 0.12226222 -0.02138269 0.01134021
+v 0.10723224 -0.05666828 0.01557315
+v 0.12027032 -0.04435372 0.01179228
+v 0.11977102 -0.04354543 0.01445997
+v 0.12037179 -0.04394266 0.01134013
+v 0.10610813 -0.05666828 0.01591538
+v 0.11940521 -0.02801496 0.01846547
+v 0.11984044 -0.02541042 0.01879992
+v 0.11684726 -0.02914796 0.01873597
+v 0.11684726 -0.02541042 0.01920062
+v 0.11684726 -0.02138272 0.01930353
+v 0.11623580 -0.02138272 0.01922714
+v 0.12124224 -0.04035020 0.01134014
+v 0.12224353 -0.02138269 0.01179236
+v 0.12123957 -0.04035020 0.01179229
+v 0.12163208 -0.02138271 0.01620084
+v 0.12140778 -0.02138271 0.01669976
+v 0.12017420 -0.02138272 0.01905563
+v 0.11960013 -0.02138272 0.01913203
+f 1 2 3
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+f 1 21 33
+f 1 33 25
+f 1 25 16
+f 1 16 7
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+f 24 37 28
+f 24 28 27
+f 28 37 38
+f 28 38 30
+f 28 30 29
+f 30 38 39
+f 30 39 31
+f 34 36 35
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_3.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0284114714523e111a11c205c6ad6737ef39809c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_3.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.07214493 -0.13000272 0.01537325
+v 0.06717643 -0.13000272 0.01530713
+v 0.06717643 -0.13498339 0.01517242
+v 0.07669853 -0.13522087 0.01460428
+v 0.07669853 -0.13000271 0.01488103
+v 0.07669853 -0.12543922 0.01463371
+v 0.07669853 -0.07462471 0.00790435
+v 0.05724559 -0.12233913 0.01409251
+v 0.05571540 -0.12239049 0.01406558
+v 0.05571540 -0.12502203 0.01409740
+v 0.06221203 -0.13498338 0.01477326
+v 0.06221203 -0.13808989 0.01444265
+v 0.06717643 -0.13803213 0.01440836
+v 0.07669853 -0.13532998 0.01454551
+v 0.07669853 -0.07462465 -0.00946561
+v 0.07231746 -0.07462470 0.00674603
+v 0.05571540 -0.10012502 0.00861198
+v 0.05571540 -0.12636347 0.01407046
+v 0.05961995 -0.13758926 0.01407286
+v 0.05571540 -0.12830825 0.01402148
+v 0.06221203 -0.13974583 0.01179050
+v 0.07669853 -0.13543909 0.01448429
+v 0.06717643 -0.13959179 0.01179050
+v 0.07669853 -0.13891144 0.01200845
+v 0.07669853 -0.13870605 0.01220436
+v 0.07651367 -0.07462465 -0.00946561
+v 0.07669853 -0.13000263 -0.00952215
+v 0.07214493 -0.13000262 -0.00957602
+v 0.05724559 -0.12502194 -0.00964212
+v 0.05571540 -0.12502194 -0.00964457
+v 0.05571540 -0.07462469 0.00140500
+v 0.05898323 -0.13824393 0.01179050
+v 0.05571540 -0.12936087 0.01334802
+v 0.06221203 -0.14018869 0.00738005
+v 0.07669853 -0.13975865 0.00738005
+v 0.05571540 -0.07462465 -0.00945827
+v 0.07669853 -0.13457253 -0.00943890
+v 0.07669853 -0.13498973 -0.00937768
+v 0.05571540 -0.12913614 -0.00894175
+v 0.05571540 -0.13067021 0.01186155
+v 0.05571540 -0.13100397 0.01112688
+v 0.05571540 -0.13176133 0.00737029
+v 0.05872032 -0.13851348 0.00738005
+v 0.07669853 -0.13832088 -0.00861364
+v 0.07669853 -0.13916170 -0.00618434
+v 0.07669853 -0.13919379 -0.00584640
+v 0.05926873 -0.13794866 0.00477933
+v 0.07413520 -0.13775606 -0.00828794
+v 0.07669853 -0.13811548 -0.00868221
+v 0.05571540 -0.13093973 -0.00584637
+f 1 2 3
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+f 9 20 18
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+f 13 25 22
+f 15 27 28
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+f 16 31 17
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+f 23 35 24
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+f 38 49 39
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+f 39 48 50
+f 42 50 43
+f 43 50 47
+f 47 50 48
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_4.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8137bf73bc9ca9fd2966d6c860080044b464f5d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.11684682 -0.10164322 -0.00964122
+v 0.10691122 -0.08019994 -0.00958359
+v 0.11684682 -0.10012214 -0.00963599
+v 0.11815021 -0.10164323 -0.00942411
+v 0.07669853 -0.10164323 -0.00945550
+v 0.07669853 -0.07521874 -0.00946587
+v 0.07669853 -0.07461824 -0.00946586
+v 0.10631590 -0.07461824 -0.00943709
+v 0.10691122 -0.07521874 -0.00942402
+v 0.10194568 -0.07461824 -0.00948156
+v 0.11684682 -0.09514094 -0.00945809
+v 0.12082917 -0.10012215 -0.00893757
+v 0.12091938 -0.10164323 -0.00893757
+v 0.07669853 -0.10164329 0.00867195
+v 0.07669853 -0.07461830 0.00790562
+v 0.10696084 -0.07461824 -0.00936123
+v 0.11699114 -0.09020205 -0.00890091
+v 0.12023836 -0.09514094 -0.00872044
+v 0.11000961 -0.07461824 -0.00872298
+v 0.12248436 -0.10012216 -0.00584570
+v 0.12267377 -0.10164324 -0.00584570
+v 0.12152372 -0.10164323 -0.00799327
+v 0.10158488 -0.07461833 0.01580793
+v 0.07711345 -0.08020001 0.00821950
+v 0.07669853 -0.08020001 0.00808609
+v 0.10357831 -0.10164331 0.01416773
+v 0.10691122 -0.08020004 0.01695101
+v 0.07669853 -0.07467121 0.00790824
+v 0.11968814 -0.09189244 -0.00836468
+v 0.11024865 -0.07461824 -0.00865497
+v 0.12101860 -0.08020001 0.00737983
+v 0.11967912 -0.07713139 0.00482944
+v 0.12271436 -0.10164324 -0.00449857
+v 0.07669853 -0.07521880 0.00792654
+v 0.10691122 -0.07521883 0.01708181
+v 0.10691122 -0.07461833 0.01700335
+v 0.11684682 -0.10164332 0.01660565
+v 0.11460984 -0.08222100 -0.00826524
+v 0.11789766 -0.07461830 0.00725952
+v 0.12012110 -0.07638540 0.00737984
+v 0.12264672 -0.10164330 0.01178997
+v 0.12274594 -0.10164327 0.00297475
+v 0.12276849 -0.10164326 -0.00008834
+v 0.12276849 -0.10164325 -0.00143548
+v 0.12007600 -0.07645683 0.01179006
+v 0.12086976 -0.08020002 0.01179005
+v 0.11684682 -0.10012224 0.01663442
+v 0.11188127 -0.08020004 0.01696671
+v 0.11684682 -0.08020004 0.01586807
+v 0.11212933 -0.07461833 0.01560913
+v 0.12105468 -0.10164332 0.01557764
+v 0.11780294 -0.07461831 0.01058942
+v 0.11961598 -0.07722665 0.01430646
+v 0.11776235 -0.07461831 0.01189209
+v 0.12094192 -0.10012224 0.01552533
+v 0.11977834 -0.08020003 0.01448955
+v 0.11683780 -0.07461832 0.01279715
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 22
+f 1 22 21
+f 1 21 33
+f 1 33 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 51
+f 1 51 37
+f 1 37 26
+f 1 26 14
+f 1 14 5
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+f 1 7 2
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+f 30 40 32
+f 30 32 38
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+f 35 48 36
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+f 40 52 45
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+f 49 55 56
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+f 49 53 50
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+f 51 53 56
+f 51 56 55
+f 53 54 57
+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_5.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49920bbf968ab06705abb01f7c27144d59cff631
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_5.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01725745 -0.08020794 0.00142738
+v -0.04810197 -0.08021468 0.00142738
+v -0.00236244 -0.11505869 0.01686812
+v 0.04167229 -0.08022818 0.00142738
+v -0.04810197 -0.13183612 0.00142719
+v -0.04810197 -0.09514301 0.00711000
+v -0.00236244 -0.11820364 0.01818479
+v 0.00260256 -0.11823063 0.01817963
+v 0.00260256 -0.11505869 0.01684749
+v 0.04167229 -0.09514301 0.00711860
+v 0.04167229 -0.13727563 0.00142717
+v -0.04810197 -0.13207235 0.00702564
+v -0.04050069 -0.13837569 0.00142716
+v -0.04810197 -0.12508738 0.01384969
+v -0.00573689 -0.12143631 0.01870216
+v -0.00236244 -0.12069394 0.01898407
+v 0.00260256 -0.12072093 0.01896860
+v 0.04167229 -0.12502664 0.01341825
+v 0.00594185 -0.12147680 0.01868153
+v 0.04167229 -0.13737014 0.00738316
+v 0.04071444 -0.13835544 0.00142716
+v -0.04810197 -0.13208584 0.00738317
+v -0.04054463 -0.13839595 0.00738315
+v -0.00236244 -0.14866082 0.00142712
+v -0.00236244 -0.14911977 0.00738311
+v -0.04810197 -0.13020295 0.01173199
+v -0.03900679 -0.13147173 0.01397859
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_6.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93df37b2bbbcf3a383b8e171633c41a9552d1b5c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_7.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d928b0380eb853834b7b1821a03df14decff2af5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_7.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_8.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84fe61b378ce9d86f1998eea0de9b31711b9c7ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_8.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_9.obj b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6488771ba897251f753f80306ea99b2b59888a56
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/mesh/photo_frame_027_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.04810197 -0.13190440 -0.00143807
+v -0.04810197 -0.13183624 0.00142547
+v -0.04810197 -0.13184595 -0.00584652
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+v -0.04050069 -0.13837140 0.00142544
+v -0.04810197 -0.08021722 0.00142566
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+v -0.00236244 -0.14866599 0.00142540
+v -0.01229245 -0.08021722 0.00142566
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+v 0.00298042 -0.14822768 -0.00582817
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+v -0.03712624 -0.13000517 -0.00963029
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+
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/photo_frame_027.xml b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/photo_frame_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..82408f6d09f7480eaeba2b7e9ef9fd571e02b1b3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/mjcf/photo_frame_027.xml
@@ -0,0 +1,64 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_027_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_027_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_027_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_027_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_027_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_027_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_027">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.urdf b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..17b09c229e0cd6e463a5bf62dbe9c1c63a346e83
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_027">
+   <link name="photo_frame_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>65c07108832d5375a716f813e790f032</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>ornate square frame</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>ornate square beige photo frame with carved floral border</description>
+         <min_height>0.0289</min_height>
+         <max_height>0.0289</max_height>
+         <real_height>0.0289</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518202126</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.125978 -0.148005 -0.008571</min>
+            <max>0.126224 0.151995 0.020313</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.usd b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/photo_frame_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153553a2269443b2ff132cb0bfb573357468c717622a0612612dbbd5fa642b86
+size 49210451
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/textures/material_0.png b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/textures/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3469585
diff --git a/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/video.mp4 b/dataset/livingroom_supplies/ornaments/65c07108832d5375a716f813e790f032/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4d2db2844c84b4757a29d40a368db3dea954da0305b74d78200a880e9eea52
+size 508272