diff --git a/.gitattributes b/.gitattributes
index 7042f35e627e3cc9744f7db71c0795f9012eedb5..1720eba3b14697f256d8a4d493c6edad9aab5e04 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5029,3 +5029,7 @@ dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/candle_ho
 dataset/livingroom_supplies/ornaments/e098cb63d95a5f5aaa8469e0a0a2803e/mesh/candle_holder_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/candle_holder_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e1a20572faea54659b638dbee7a957bd/mesh/candle_holder_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1b119433722fdddf8be31fd248dcf0bbe3af743
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_023_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c29671a68a2fb67a625302e29cc6aee9644e9899
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2edd1547394c9a75a2a85476be9b0fa1556fb0f16dffdc0ccd420e82660bad
+size 3999796
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.glb b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..492e6077746cf1080792b0913671e26aa0fc37f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af10fc0e3279860096d36345da62acbb252dc8ce804e88f1bb8551d82dadddd
+size 31619188
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.mtl b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83a5a685f109d81e89a556d8876fecdb633292cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.mtl
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+newmtl photo_frame_023_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2ffbe0c0f7674cc469adb4bb4c4840e3b18d5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c83017dda5ebf0dbc6c1382c1046e1448bfa93573c527bd560b663c00cc8e4
+size 39490751
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023_collision.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1631bf393f0b68274d3575395ed2daf9907ec1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mesh/photo_frame_023_collision.obj
@@ -0,0 +1,6821 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_0.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77ac685c54f164bb8237cde8d650c3ac7ed93a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_0.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_1.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5274596cc3b415e56d80187b0588326324f690
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_1.obj
@@ -0,0 +1,118 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_10.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7bbc934f9391fc18cbeb56ed05afed19790f3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_11.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0551bed352c9998d2508a682601d4ff3f540c4b0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_11.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.00966654 -0.13514617 -0.00582435
+v -0.00966654 -0.03646575 -0.01240863
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+v 0.05455700 -0.00232013 -0.00410198
+v -0.00966654 0.04858998 -0.00410179
+v 0.04273676 -0.00686164 -0.01241585
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_12.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde9dfa8e2160a13331179cd73fcb80e090d93a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.11904556 -0.13959814 0.02174330
+v 0.11903498 -0.13685841 0.02173872
+v 0.11900855 -0.13959814 0.02174330
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+v 0.12084890 -0.12036736 0.01948186
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+v 0.11699113 -0.13959813 0.01983537
+v 0.12073349 -0.13959813 0.01958511
+v 0.12095815 -0.13959813 0.01908460
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_13.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff1349c56126dc0013c16c9fd3e2eafc5cdf639
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.11520228 -0.14574825 0.01912763
+v -0.12454384 -0.14504254 0.02019585
+v -0.11520228 -0.14884543 0.01912762
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+v -0.12454384 -0.15018686 0.00197561
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+v -0.11520228 -0.15019478 0.00197561
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_14.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a16fe0c3151ea1b6a09ca3e2ed91628d2c04da0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_14.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.12273016 -0.09481536 -0.00681011
+v 0.12269479 -0.09481538 -0.00241902
+v 0.12269479 -0.09649011 -0.00171311
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+v 0.12240590 -0.09481536 -0.00749763
+v 0.12268890 -0.09481538 -0.00171311
+v 0.12273016 -0.14010354 -0.00171327
+v 0.12273606 -0.14010354 -0.00241918
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_15.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9761614c539eff97a7edf59e942a73fc16729f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_15.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_16.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a24de8dd2a2de118b3681f30c8b1dc6f99242bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_16.obj
@@ -0,0 +1,238 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_17.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b7b1bde80c4185d33e28fa2af63b2802a35381
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.08505393 -0.02073087 -0.01238015
+v 0.08704396 -0.02073087 -0.01238015
+v 0.08505393 -0.02073090 -0.00581692
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+v 0.09196547 0.12144744 -0.01402329
+v 0.09688699 0.12144744 -0.01422997
+v 0.10180850 0.12144744 -0.01423615
+v 0.09103508 -0.02073087 -0.01237926
+v 0.11476026 -0.02073090 -0.00521456
+v 0.08586988 0.11653077 -0.00521405
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+v 0.08505393 0.13973325 -0.00521397
+v 0.08505393 0.12309754 -0.01270729
+v 0.08505393 0.12848563 -0.01266753
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+v 0.08505393 0.14611479 -0.01219228
+v 0.09178457 0.12641459 -0.01387314
+v 0.09688699 0.12638091 -0.01423702
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+v 0.10575163 0.12144744 -0.01387138
+v 0.11656567 -0.02073087 -0.01235895
+v 0.11563158 -0.02073087 -0.01236160
+v 0.11164416 -0.02073087 -0.01236955
+v 0.12270927 -0.02073090 -0.00521456
+v 0.08505393 0.15126714 -0.00521392
+v 0.09688699 0.14611479 -0.01219493
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+v 0.08505393 0.14992013 -0.01049030
+v 0.10569255 0.12638091 -0.01383339
+v 0.11656567 0.14611479 -0.01215784
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+v 0.11656567 -0.00192306 -0.01236153
+v 0.11656567 -0.01672348 -0.01235981
+v 0.12005836 -0.02073088 -0.01099614
+v 0.12088169 -0.00685654 -0.01067813
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+v 0.12276834 0.14118131 -0.00680906
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+v 0.11477872 0.15126714 -0.00521392
+v 0.11164416 0.15126715 -0.00680902
+v 0.11164416 0.14992013 -0.01049207
+v 0.11656567 0.15123347 -0.00680902
+v 0.12063432 0.14990328 -0.00680903
+v 0.12250989 0.14611478 -0.00680904
+v 0.12064171 0.14990327 -0.00521393
+v 0.11656567 0.15125030 -0.00521392
+f 1 2 9
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+f 1 23 36
+f 1 36 53
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+f 1 26 10
+f 1 10 3
+f 1 3 13
+f 1 13 27
+f 1 27 43
+f 1 43 47
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+f 1 30 18
+f 1 18 17
+f 1 17 16
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+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
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+f 3 11 12
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+f 57 60 58
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_18.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a086fa2685049da9274fea5cd1a537607223bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_18.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.05723302 -0.00234606 -0.00573225
+v 0.05509820 -0.00234608 0.00064607
+v 0.05532086 -0.00778670 0.00064605
+v 0.05722647 -0.00686091 -0.00573227
+v -0.00966654 -0.00234606 -0.00573225
+v -0.00966654 -0.00234608 0.00064607
+v 0.05498033 -0.01283969 0.00064603
+v 0.05685320 -0.01184549 -0.00573228
+v -0.00966654 -0.04893113 -0.00573242
+v -0.00966654 -0.04728939 0.00064591
+v 0.05264252 -0.01667503 0.00064602
+v 0.03419537 -0.04115101 0.00064593
+v 0.03348158 -0.04203118 0.00064593
+v 0.03125509 -0.04428405 0.00064592
+v 0.05264252 -0.01610040 -0.00573230
+v 0.01815807 -0.04733499 0.00064466
+v 0.01815807 -0.04733499 0.00064591
+v 0.01333837 -0.04752197 0.00064591
+v 0.01324014 -0.04752197 0.00064591
+v 0.02312839 -0.04562936 -0.00573241
+v 0.02797428 -0.04601246 0.00064591
+v 0.03788218 -0.03087172 -0.00573235
+v 0.05196802 -0.01677991 -0.00573230
+v 0.02267654 -0.04677862 0.00064591
+f 1 2 3
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+f 1 23 22
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+f 1 20 9
+f 1 9 5
+f 1 5 6
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+f 20 21 24
+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_19.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090d54b422268b401123cef996e62ea7f993422d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_19.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.07655844 0.00405980 -0.01238045
+v -0.02613415 0.00405980 -0.01241631
+v -0.07655844 0.00405977 -0.00581472
+v -0.07655844 0.00794714 -0.01238124
+v -0.01629287 0.00405980 -0.01241631
+v -0.02613415 0.00794714 -0.01241711
+v -0.03313370 0.00405977 -0.00409075
+v -0.03314025 0.00465213 -0.00409074
+v -0.07655844 0.01166168 -0.00581387
+v -0.07655844 0.01288344 -0.01238122
+v -0.00967308 0.00405980 -0.01241386
+v -0.01629287 0.00794714 -0.01241711
+v -0.00967308 0.00624412 -0.01241467
+v -0.02613415 0.01288344 -0.01241709
+v -0.00967308 0.00405977 -0.00409075
+v -0.03314025 0.00788541 -0.00409073
+v -0.07655844 0.10047807 -0.00581028
+v -0.07655844 0.13013294 -0.01237508
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+v -0.00967308 0.01288344 -0.01241464
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+v -0.04954893 0.13013294 -0.01237508
+v -0.02121678 0.13013294 -0.01237345
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+f 29 47 30
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_2.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54df6c9952a2ea1613e57d6ed29a0623c65466db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_2.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.12084501 -0.09481546 0.01903837
+v 0.11740875 -0.09481546 0.01903837
+v 0.12116856 -0.09481546 0.01835281
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+v 0.12083824 -0.02073099 0.01900175
+v 0.11578930 -0.09481545 0.01514637
+v 0.11741299 -0.02073099 0.01900175
+v 0.11741214 -0.02166647 0.01900175
+v 0.11610438 -0.02073098 0.01587831
+v 0.11579862 -0.02073098 0.01514664
+v 0.12266520 -0.09481545 0.01514637
+v 0.12265080 -0.02073098 0.01514664
+v 0.11408176 -0.09481537 -0.00534968
+v 0.11408176 -0.02073090 -0.00534326
+v 0.11408176 -0.03154335 -0.00534330
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+v 0.12088313 -0.09481535 -0.01067429
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+v 0.12011659 -0.09481535 -0.01097556
+v 0.11656769 -0.09481534 -0.01235590
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_20.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212a938b125c54c03fc40f49abc2cd945f07e22c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_20.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.06251252 -0.02073087 -0.01237747
+v 0.06736378 -0.02073087 -0.01237894
+v 0.06251252 -0.02073090 -0.00581400
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+v 0.07135024 -0.02073087 -0.01237967
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+v 0.07720087 0.13971009 -0.00522433
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+f 9 14 17
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+f 10 18 11
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+f 15 20 21
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_21.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce40d961c9e5271da7b163823e9659be28ac365
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_21.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.09268599 0.08934040 0.01728762
+v -0.09251833 0.08934040 0.01728762
+v -0.09268599 0.08934040 0.01739404
+v -0.09774167 0.09365658 0.01608725
+v -0.09752241 0.09423091 0.00412321
+v -0.09502037 0.09372197 0.00379118
+v -0.09202765 0.09360447 0.00371030
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+v -0.09251833 0.08934040 0.01739404
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+v -0.09774167 0.09471704 0.01608726
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+v -0.09502037 0.09494189 0.00379119
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+v -0.09502037 0.09523138 0.01820566
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+v -0.09542253 0.09545920 0.01483297
+v -0.09547060 0.09528238 0.00649984
+v -0.09485505 0.09540824 0.01075792
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+f 1 4 5
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+f 1 7 2
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_22.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533d0838160561427f51f5f7c97148e1370542a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.08542461 -0.12061430 -0.00518484
+v -0.08542461 -0.12075558 -0.00518484
+v -0.08542752 -0.12044312 -0.00518484
+v -0.08918762 -0.12036984 0.01514728
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+v -0.09159526 -0.12903985 0.01953912
+v -0.09034772 -0.13492753 -0.00518490
+v -0.09112597 -0.12963758 0.01514724
+v -0.09054884 -0.11074609 -0.00518481
+v -0.09375513 -0.11373489 0.01514730
+v -0.09501141 -0.11425929 0.01980584
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+v -0.09191005 -0.12036986 0.02210788
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+v -0.09642509 -0.13321047 0.01868195
+v -0.09502307 -0.10939302 -0.00518480
+v -0.09664370 -0.11256930 0.01851877
+v -0.09994326 -0.11328388 0.02147388
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+v -0.09502307 -0.12036986 0.02254053
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+v -0.10362758 -0.11250138 0.01875006
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+v -0.10158430 -0.13275945 0.02178129
+v -0.10480517 -0.13662566 -0.00518490
+v -0.10367130 -0.13319688 0.01953910
+v -0.10486346 -0.13662024 -0.00518490
+v -0.10255202 -0.13275945 0.02178129
+v -0.09994326 -0.10897460 -0.00518480
+v -0.10486346 -0.10909958 -0.00518480
+v -0.10828544 -0.12036986 0.02217591
+v -0.10486055 -0.12036986 0.02259224
+v -0.10857692 -0.11637041 0.01953916
+v -0.11035204 -0.12036985 0.01953915
+v -0.10672019 -0.11327843 0.01514730
+v -0.10965832 -0.11062383 -0.00518481
+v -0.10833499 -0.12530125 0.02219765
+v -0.10787737 -0.12846385 0.02202894
+v -0.10445830 -0.13015927 0.02212961
+v -0.10613140 -0.13195249 0.01953911
+v -0.10717782 -0.13262630 0.01514723
+v -0.10471480 -0.13360714 0.01514723
+v -0.10960002 -0.13516120 -0.00518490
+v -0.11045698 -0.12530124 0.01953913
+v -0.10911325 -0.11574820 0.01514729
+v -0.11149465 -0.12036984 0.01514728
+v -0.11227290 -0.11543294 -0.00518482
+v -0.10868186 -0.12948272 0.01953911
+v -0.11427246 -0.13005864 -0.00518488
+v -0.10982738 -0.13496557 -0.00518490
+v -0.10969329 -0.13508240 -0.00518490
+v -0.11158209 -0.12530123 0.01514726
+v -0.11474756 -0.12008991 -0.00518484
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_23.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fad3d2dbfcc3fa638ad8ab689cb9a99c84cef8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.06251252 -0.09481534 -0.01237559
+v 0.06251252 -0.09481537 -0.00580898
+v 0.06251252 -0.09082685 -0.01237626
+v 0.07720693 -0.08088462 -0.01238036
+v 0.08617198 -0.09481534 -0.01237903
+v 0.11408176 -0.09481537 -0.00535169
+v 0.11408176 -0.03154335 -0.00534664
+v 0.11408176 -0.02166638 -0.00534591
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+v 0.06251252 -0.07601865 -0.01237759
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+v 0.07720693 -0.07594614 -0.01238103
+v 0.09108862 -0.09481534 -0.01237903
+v 0.11408176 -0.09481534 -0.01236250
+v 0.11408176 -0.02073090 -0.00534660
+v 0.06251252 -0.02073087 -0.01237807
+v 0.06251252 -0.03161583 -0.01237811
+v 0.06736354 -0.03154332 -0.01237949
+v 0.07720693 -0.02073087 -0.01238083
+v 0.08212357 -0.03647454 -0.01238088
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+v 0.11408176 -0.02073087 -0.01236430
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_24.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b746c0ac54a93ec23c7bd5a66fde76d5df0ea14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_24.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.11656739 0.14612013 0.02011908
+v 0.12083887 0.08689968 0.01944685
+v 0.12083965 0.09183332 0.01945927
+v 0.12084201 0.09676695 0.01946425
+v 0.12084358 0.10170059 0.01946922
+v 0.12084672 0.11650149 0.01947672
+v 0.12084751 0.12143511 0.01947674
+v 0.12085457 0.13131922 0.01947181
+v 0.12074775 0.14118649 0.01943465
+v 0.12071869 0.14612013 0.01929829
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+v 0.11656739 0.14992559 0.01900073
+v 0.11473878 0.14992559 0.01894122
+v 0.11473878 0.14598542 0.01952146
+v 0.11741258 -0.02071415 0.01900258
+v 0.12083887 -0.02071415 0.01900258
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+v 0.11473878 0.15127267 0.01514722
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+v 0.11476312 -0.02071406 -0.00521456
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+v 0.12254337 0.14612018 0.00636645
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+v 0.11656739 0.15127274 -0.00241677
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+v 0.11473878 0.15125591 -0.00521392
+v 0.12251981 0.14612022 -0.00521394
+v 0.12253866 0.14612021 -0.00241679
+v 0.12065742 0.14990884 -0.00241678
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_25.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eeafc7e986de7e62a4394b19fdc5228a641da89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.06250160 0.09794184 0.01514803
+v 0.06250160 0.09794184 0.01508319
+v 0.05259142 0.09794184 0.01514803
+v 0.06250160 0.09611937 0.01906258
+v 0.06250160 0.09793527 0.01076079
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+v -0.00965588 0.07551252 0.01162417
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+v -0.00965588 0.07551254 0.00557657
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+v -0.04909992 0.09292904 0.00329513
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+v -0.04909992 0.07551254 0.00557486
+v -0.04581110 0.07551254 0.00557486
+f 1 2 3
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+f 1 20 25
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+f 27 36 30
+f 28 34 35
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+f 33 38 35
+f 33 35 34
+f 33 34 36
+f 35 38 37
+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_26.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b623ba27c821c48a08b8843f306d0682f30795c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_26.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.08505025 0.14992987 0.01880907
+v 0.08212052 0.14992987 0.01880907
+v 0.08505025 0.14656519 0.01880906
+v 0.08505025 0.15073249 0.01663120
+v 0.08212052 0.14656632 0.01880906
+v 0.06251252 0.14994573 0.01875103
+v 0.06251252 0.14992533 0.01880602
+v 0.06251252 0.14656973 0.01880601
+v 0.08505025 0.14574103 0.01732762
+v 0.08505025 0.15127779 0.01514671
+v 0.08212052 0.15127666 0.01514671
+v 0.06251252 0.15126758 0.01514671
+v 0.06251252 0.14456998 0.01520166
+v 0.08505025 0.14453030 0.01514668
+v 0.08505025 0.15129141 0.01075736
+v 0.06251252 0.15126871 0.01508256
+v 0.06251252 0.14454050 0.01514668
+v 0.06251252 0.13971123 -0.00521173
+v 0.07720087 0.13971123 -0.00522089
+v 0.08505025 0.13971123 -0.00523006
+v 0.06251252 0.15128007 0.01075736
+v 0.08505025 0.15129030 0.00636496
+v 0.06251252 0.15128012 -0.00241679
+v 0.06251252 0.13971126 -0.01238680
+v 0.08505025 0.13971126 -0.01238069
+v 0.08505025 0.15128917 0.00375334
+v 0.08505025 0.15128692 -0.00063601
+v 0.08505025 0.15128580 -0.00241679
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+v 0.06251252 0.14112039 -0.01238985
+v 0.07228343 0.13971126 -0.01238680
+v 0.07867897 0.13971126 -0.01238375
+v 0.08212052 0.14119294 -0.01238985
+v 0.08505025 0.14119294 -0.01238679
+v 0.08505025 0.15126540 -0.00680614
+v 0.06251252 0.14991864 -0.01048685
+v 0.06251252 0.14119294 -0.01238985
+v 0.08505025 0.14612657 -0.01219128
+v 0.08505025 0.14991977 -0.01048990
+v 0.08212052 0.14991977 -0.01048990
+v 0.06736157 0.14612657 -0.01219128
+v 0.06251252 0.14612657 -0.01218823
+v 0.06251252 0.14605403 -0.01219128
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+f 1 39 35
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+f 23 28 29
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+f 30 33 31
+f 31 33 32
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+f 35 40 36
+f 36 40 41
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+f 38 41 40
+f 38 40 39
+f 41 43 42
+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_27.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331ff728b4413db033520d4ed5f19d537ced0fa1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.06251252 -0.07258176 0.01162954
+v 0.06251252 -0.08237655 0.01863639
+v 0.06251252 -0.07258174 0.00557822
+v 0.06243480 -0.07258176 0.01162954
+v -0.00644476 -0.08237439 0.01863972
+v 0.06251252 -0.08576738 0.02032275
+v 0.05751736 -0.08237871 0.01863806
+v 0.05751736 -0.08582134 0.02035105
+v 0.06251252 -0.09075535 0.00334908
+v 0.04275089 -0.09075535 0.00334742
+v -0.00152732 -0.09075535 0.00334409
+v 0.06243480 -0.07258174 0.00557822
+v -0.00966654 -0.07258176 0.01161955
+v -0.00966654 -0.08237439 0.01863972
+v 0.06251252 -0.08582134 0.02034772
+v 0.06251252 -0.09068418 0.02009467
+v -0.00966654 -0.08462774 0.01975841
+v -0.00966654 -0.08582134 0.02034939
+v -0.00966654 -0.08904813 0.02017957
+v -0.00966654 -0.09075541 0.02008968
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+v -0.00966654 -0.09376630 0.00364373
+v -0.00966654 -0.09075535 0.00334575
+v -0.00152732 -0.07258174 0.00558322
+v -0.00966654 -0.07258174 0.00558488
+v 0.06251252 -0.09075541 0.02008968
+v -0.00966654 -0.09282747 0.01897096
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+v 0.06251252 -0.09377709 0.00368368
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+v -0.00966654 -0.09446563 0.00636556
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+v 0.06251252 -0.09387860 0.01840329
+v -0.00966654 -0.09392176 0.01837998
+v -0.00966654 -0.09438149 0.01626742
+v 0.03783344 -0.09462755 0.01514872
+v 0.06251252 -0.09462755 0.01514872
+v 0.06251252 -0.09446994 0.00636556
+v 0.00831464 -0.09462753 0.01075714
+v -0.00966654 -0.09462537 0.01075714
+v 0.05259285 -0.09462969 0.01075714
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+v -0.00966654 -0.09462323 0.01514872
+v 0.00831464 -0.09462539 0.01514872
+v 0.06251252 -0.09462969 0.01082207
+v 0.06251252 -0.09462969 0.01075714
+v -0.00966654 -0.09462538 0.01227705
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+f 1 15 16
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+f 1 26 35
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_28.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..032cd86d80244ebdac46eafdb61de28f10f21c71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_28.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.12037307 0.13858731 -0.00527076
+v -0.12037307 0.14322493 0.01514778
+v -0.12037307 0.15128223 -0.00527071
+v -0.10531930 0.13765496 -0.00527076
+v -0.12037307 0.14375522 0.01647834
+v -0.10498906 0.13765496 -0.00523992
+v -0.09994111 0.13765496 -0.00522332
+v -0.09737211 0.13765496 -0.00526127
+v -0.09673307 0.13765496 -0.00527076
+v -0.07655844 0.14453663 0.01514778
+v -0.12037307 0.15129423 -0.00241510
+v -0.11962253 0.15128489 -0.00527071
+v -0.12037307 0.14537413 0.01858209
+v -0.07655844 0.14606338 0.01790141
+v -0.07655844 0.14656829 0.01880979
+v -0.07655844 0.13941814 -0.00527076
+v -0.12037307 0.15129556 0.00197503
+v -0.11962253 0.15129690 -0.00241510
+v -0.10977968 0.15129423 -0.00241510
+v -0.11470325 0.15128355 -0.00527071
+v -0.12037307 0.14583763 0.01869120
+v -0.12037307 0.14935866 0.01895448
+v -0.11470325 0.14655893 0.01882877
+v -0.09994111 0.14649883 0.01881454
+v -0.07655844 0.14992768 0.01880980
+v -0.07655844 0.15127153 -0.00527071
+v -0.12037307 0.15129686 0.00703400
+v -0.11962253 0.15129822 0.00197503
+v -0.11470325 0.15129822 0.00197503
+v -0.09502183 0.15129287 0.00197503
+v -0.09502183 0.15129023 -0.00241510
+v -0.12037307 0.14993703 0.01883352
+v -0.07655844 0.15127279 0.01514781
+v -0.08518327 0.15127814 0.01514781
+v -0.11962253 0.14993837 0.01883115
+v -0.07655844 0.15128354 -0.00241510
+v -0.12037307 0.15129685 0.01075767
+v -0.11962253 0.15129953 0.01075767
+v -0.11470325 0.15129953 0.01075767
+v -0.09994111 0.15129685 0.01075767
+v -0.09502183 0.15129553 0.01075767
+v -0.08518327 0.15128887 0.00197503
+v -0.11962253 0.15129148 0.01514781
+v -0.12037307 0.15108446 0.01570991
+v -0.07655844 0.15128349 0.01184631
+v -0.08518327 0.15129150 0.01075767
+v -0.09502183 0.15128215 0.01514781
+v -0.11470325 0.15129016 0.01514781
+v -0.07655844 0.15128486 0.00197503
+v -0.12037307 0.15128882 0.01514781
+v -0.07655844 0.15128617 0.01075767
+v -0.07655844 0.15128619 0.00636754
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+f 1 5 13
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+f 1 21 22
+f 1 22 32
+f 1 32 44
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+f 1 37 27
+f 1 27 17
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+f 1 16 9
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_29.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eece90b4db3253e8136eea7e1f9062afc2e95ec0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_29.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.11520228 -0.15016237 -0.00518495
+v -0.11520228 -0.13862250 -0.00518491
+v -0.11470296 -0.15016237 -0.00518495
+v -0.11520228 -0.15018959 -0.00241712
+v -0.11520228 -0.14322581 0.01514658
+v -0.10246222 -0.14257016 0.01735276
+v -0.09993917 -0.13860889 -0.00518491
+v -0.11470296 -0.15018959 -0.00241712
+v -0.07843842 -0.15014761 -0.00518495
+v -0.07655844 -0.15017824 -0.00241712
+v -0.08026168 -0.15017939 -0.00241712
+v -0.11520228 -0.15019415 0.00152876
+v -0.11520228 -0.14342546 0.01554402
+v -0.10024557 -0.14456892 0.01875451
+v -0.10209152 -0.14257016 0.01735276
+v -0.11520228 -0.14532666 0.01911388
+v -0.07655844 -0.13861683 -0.00518491
+v -0.07655844 -0.15014648 -0.00518495
+v -0.07655844 -0.15016576 -0.00350712
+v -0.07655844 -0.15018280 0.00197380
+v -0.10978170 -0.15019302 0.00197380
+v -0.11470296 -0.15019756 0.00636710
+v -0.11520228 -0.15019643 0.00592206
+v -0.09502169 -0.14524045 0.01908056
+v -0.07655844 -0.14539699 0.01902106
+v -0.07655844 -0.14380207 0.01611044
+v -0.07655844 -0.14327573 0.01514658
+v -0.09881194 -0.14260986 0.01691486
+v -0.11520228 -0.14574865 0.01912815
+v -0.11470296 -0.14539926 0.01912578
+v -0.10978170 -0.14535162 0.01912102
+v -0.07655844 -0.15018396 0.00636710
+v -0.11470296 -0.15019305 0.01075564
+v -0.11520228 -0.15019305 0.01075564
+v -0.11520228 -0.15019643 0.00636710
+v -0.07655844 -0.15018057 0.00966564
+v -0.09010043 -0.14539019 0.01906866
+v -0.08518294 -0.14539246 0.01905200
+v -0.07655844 -0.14883865 0.01902104
+v -0.11520228 -0.14884545 0.01912814
+v -0.10486044 -0.14883865 0.01911624
+v -0.11470296 -0.15018625 0.01514656
+v -0.07655844 -0.15017944 0.01075564
+v -0.07655844 -0.15017491 0.01405895
+v -0.11520228 -0.15018625 0.01514656
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_3.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d41f2026d4c4329b01c6ebbda7229e297286ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_30.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87dcaa7993d86d63496fdb6ab42fce250bd78f76
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_30.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_31.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c09d7ce2d8c45b038d8afeb541e864dbc606091
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_31.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_32.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df07b351542dbc78da2cb3755f88b5f25277ed3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_32.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_33.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a27b80bc79613c06f5a038d135a5eb902c981b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_33.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.06251252 -0.02073071 0.00351629
+v 0.06251472 -0.03152491 0.00281740
+v 0.06251472 -0.03161561 0.00282089
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+v 0.08211915 -0.00685245 0.00347965
+v 0.06251472 -0.07920688 0.01229186
+v 0.06251252 -0.01959690 0.01297695
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_34.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b81e06f695140f89730847e9176d326f2fb893
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_34.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.06890638 0.09184101 0.01075813
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+v -0.06844134 0.09514974 0.01075814
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_35.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3408d66994bf35174d143fe7cb9df13eb82cf9ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_35.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.11473878 0.13779368 -0.00476204
+v 0.11473878 0.13656600 -0.00521398
+v 0.11473878 0.13779368 -0.00521397
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_36.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee52073ca9b593e3d5a869b5979711a3c343f7c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_36.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_37.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6c8bdba098666955ada54e7903f55718c5d0fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_38.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1979bc465c95788cf9d790324e40270a3e2118
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_39.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ae6100a91f7579ff5d36b72b03180b73f26dbe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_39.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.07720005 -0.09075744 0.00316449
+v 0.08212158 -0.07920685 0.00349615
+v 0.08212158 -0.08582358 0.00346519
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+v 0.07720005 -0.08582365 0.02071810
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+v 0.07887654 -0.07920691 0.02024045
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_4.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77288b6f39e885ae5ccf1b350365389283a7067b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_4.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04160541 0.00405973 0.00479337
+v -0.03313923 0.00787964 -0.00409073
+v -0.03313923 0.00465204 -0.00409074
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+v -0.04143971 0.01253626 0.00479341
+v -0.03299229 0.02275160 -0.00409068
+v -0.00966654 0.00405977 -0.00409075
+v -0.00966654 0.05957013 0.00479358
+v -0.04143033 0.01288401 0.00479341
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+v -0.03982651 0.03120636 0.00479347
+v -0.03900428 0.03444483 0.00479349
+v -0.03112899 0.02802226 -0.00409066
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+v -0.01061383 0.04826813 -0.00409058
+v -0.01180809 0.04787691 -0.00409058
+v -0.01544717 0.05690220 0.00479357
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+v -0.03584978 0.04252470 0.00479352
+v -0.02639255 0.03777571 -0.00409062
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+v -0.01604118 0.05655987 0.00479357
+v -0.03582477 0.04257360 0.00479352
+v -0.03262651 0.04521980 0.00479353
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_40.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3242d5b63e5c93aa1ecb0ddc27e1627bfc23a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_40.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00966654 -0.00234154 0.00486318
+v 0.05909292 -0.00234154 0.00486318
+v -0.00966654 -0.00234157 0.01336843
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+v 0.06251252 -0.00234154 0.00555838
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_41.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d116b8fa5494c6744d6c508b9aec4d5f6f890a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_41.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08505026 0.13974013 -0.00521155
+v 0.08505026 0.14453081 0.01514877
+v 0.08505026 0.15127208 -0.00521150
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+v 0.11473587 0.13779368 -0.00476120
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+v 0.08505026 0.15128661 -0.00241495
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+v 0.11473587 0.15128396 -0.00241495
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+v 0.11473587 0.15128921 0.01075665
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_42.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1117b73ca10908d49b7fa1a9945d5f9d60276f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_42.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.06251252 0.07524727 0.00557436
+v 0.07859036 0.07524728 0.00358099
+v 0.06251252 0.07524725 0.01163002
+v 0.06251252 0.09293101 0.00329947
+v 0.07987139 0.07524728 0.00355008
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+v 0.06251252 0.09750473 0.00632131
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+v 0.08492494 0.09183980 0.00636764
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_43.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087e3de0fa05b5ea6c5c51c0f2777f80a2ad7a00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_43.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00966654 -0.00234150 -0.00410198
+v 0.05455854 -0.00234150 -0.00410198
+v -0.00966654 -0.00234154 0.00486318
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+v 0.05455854 -0.00208436 -0.00410198
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+v 0.01849503 0.04750906 -0.00410180
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_44.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f232d4f8c316e07a6f91e74e3c86de25db6d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_44.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05191384 0.00405973 0.00558418
+v -0.05191384 0.00405971 0.01188446
+v -0.05191384 0.00419262 0.00558329
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+v -0.05191384 0.00794837 0.01188629
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_5.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6bfd80dd5ab8cdec0cfbdff9528cd3da8df91e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.11520228 -0.15014772 -0.00518584
+v -0.11520228 -0.15013290 -0.00681043
+v -0.11470296 -0.15016251 -0.00518584
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+v -0.07655844 -0.15011811 -0.00681043
+v -0.11520228 -0.14880138 -0.01046597
+v -0.10978170 -0.14880138 -0.01046151
+v -0.07655844 -0.15013291 -0.00518584
+v -0.11227070 -0.11542443 -0.00518571
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_6.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28cbed6289f821f1066a8d4e52bbb2726e247a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_6.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.12538173 -0.13022492 0.01904034
+v -0.12882702 -0.13022492 0.01904034
+v -0.12648914 -0.13672185 0.01896951
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_7.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecab052b750f6ead0fd5e5434f6de410d086887a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_7.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.12454488 0.14611882 0.01964482
+v -0.12037307 0.14935588 0.01895456
+v -0.12454488 0.14992972 0.01883748
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_8.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf10d2787226f2ee3067ae64d582da003a5c41e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07655844 0.15128473 -0.00071562
+v -0.07041664 0.15128267 -0.00241790
+v -0.07655844 0.15128267 -0.00241790
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+v -0.02121678 0.13013294 -0.01237328
+v -0.00967308 0.14119127 -0.01239153
+v -0.01510772 0.13013294 -0.01237214
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+f 32 42 41
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_9.obj b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c4535b18ad150582befac3a28ecf20720831171
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/mesh/photo_frame_023_collision_9.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.07655844 0.14408534 -0.00071565
+v -0.07655844 0.14453719 0.01514795
+v -0.07655844 0.15128409 -0.00071562
+v -0.07041664 0.14408534 -0.00071565
+v -0.01137550 0.14453649 0.01514795
+v -0.07655844 0.14656898 0.01880997
+v -0.07655844 0.15128550 0.00197545
+v -0.07041664 0.15128409 -0.00071562
+v -0.02121678 0.14408746 -0.00071565
+v -0.00967308 0.14453649 0.01514795
+v -0.07655844 0.14992831 0.01880998
+v -0.00967308 0.14524008 0.01641513
+v -0.00967308 0.14656829 0.01880614
+v -0.07655844 0.15128689 0.00745700
+v -0.07041664 0.15128619 0.00636757
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+v -0.00967308 0.15126711 0.01514798
+v -0.00967308 0.15127770 0.01075777
+v -0.00967308 0.15127843 0.00636757
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+
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/photo_frame_023.xml b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/photo_frame_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8c96cbd383a5e6d1bb9e140dc62dbffc343d005e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/mjcf/photo_frame_023.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_023_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_023_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_023_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_023_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_023_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_023_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_023_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_023_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/photo_frame_023_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/photo_frame_023_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/photo_frame_023_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/photo_frame_023_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/photo_frame_023_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/photo_frame_023_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/photo_frame_023_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/photo_frame_023_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/photo_frame_023_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/photo_frame_023_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/photo_frame_023_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/photo_frame_023_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/photo_frame_023_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/photo_frame_023_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/photo_frame_023_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/photo_frame_023_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_023">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" 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/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.urdf b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db21d35905dddae53b030f824733a9ddbc57efe8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_023">
+   <link name="photo_frame_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>e0ca8800f20b55eea04621b63db1a818</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>square photo frame</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>metal</material>
+         <description>square gray photo frame with thick border and rear fasteners</description>
+         <min_height>0.0368</min_height>
+         <max_height>0.0368</max_height>
+         <real_height>0.0368</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201822</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.130179 -0.149451 -0.013663</min>
+            <max>0.122073 0.150549 0.023158</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.usd b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.usd
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+++ b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/photo_frame_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81db8678df1a3dd552eebc7b97889b9de502f7394f94b504b63428ae1221fa84
+size 45389572
diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/textures/material_0.png b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/video.mp4 b/dataset/livingroom_supplies/ornaments/e0ca8800f20b55eea04621b63db1a818/video.mp4
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+size 594431