diff --git a/.gitattributes b/.gitattributes
index fd8414a53d96056d22396ea824aa1f08f21a7761..04f3f3325a2d97f5ce70410914e2105d5c21b562 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4935,7 +4935,7 @@ dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/phot
 dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/diffuser_bottle_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/544a9e90a91959c2b5ff6b03d5082e22/mesh/diffuser_bottle_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/diffuser_bottle_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5166b362212e52feba589ecf2b5c4d12/mesh/diffuser_bottle_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9654aa39da11db165338deb9c1c5b62e59936263
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_011_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd photo_frame_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..66e6aa85d6410cf7b0f06639a95b17ad6acf0e43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43538691df3118571d0219ce582632c464b4629029e6672f020775f38f960960
+size 2927494
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.glb b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..345a967ec9c2135e66606036660122360b821ca7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 32862620
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.mtl b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29640ecdad4b83e3287a7e52d46e023bdc62b3cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.mtl
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+newmtl photo_frame_011_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/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfe181a1cb5493ff5918744e360cdc75bb8f2d12
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8412130a85bce910122252df0aac6aee3c870eedead80d886df067997781aab
+size 39351560
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011_collision.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011_collision.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mesh/photo_frame_011_collision.obj
@@ -0,0 +1,9821 @@
+# https://github.com/mikedh/trimesh
+
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+o photo_frame_011_collision.obj_44
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_0.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f2ac3251a0a727fa7b62263f12db6e59408a31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_0.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_1.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f05f75b87c93530dfb3a87302a16bb97ed2916
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_1.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_10.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9baf4da3bbe81216c94b61f5155fa29cd187da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_10.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_11.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190449fd8e2c8aecc861bed419643fbf4b312c95
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_11.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_12.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f23c817d11c51e61090290967e5ad032223559
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_12.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_13.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cbfe93b51ae65312d038f423483075ec801563
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_14.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e180f2fb9776f3da7957992eec931f7a7d85af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_14.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_15.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fedc9011136784b83df6df93900414bb8864c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_15.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_16.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..197f1febbe7f9bd38119df652bc6ba1a6dfe1421
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_16.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_17.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b63078520f34e073a13b1d308d7e2b5faf51e07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_17.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_18.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7da8bfb9bfd200e4773e1bfdf1547c8f953c35
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_18.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_19.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0ef3bcadf801556efb5d2d3ea9e79f7e8cc1cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_19.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_2.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da8f17bc0eb6a5ec1bb6a8c3df3a240259ffb21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_2.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_20.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73961acd99afbe7281279b50c8d8cc21b60d607
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_21.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ff2c81ade8f5c00e636c19e75bfd80ae6a5aac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_21.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_22.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0134d4b31070d92d3ffc8d010f23178b0459239
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_22.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_23.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e7437109f1319cb95f98dadd164ea73d206039
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_23.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_24.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba53d6494446a20a05750543f4ae2870dbd887ee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_24.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_25.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb67490a317ca12bc95cf75914a49e7305a5bfd8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_25.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_26.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e00d51971662a53a70feb7a2424f1d7a8f97d75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_26.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_27.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ffaf08f5d999d2359f4d857c32174ce8c3182e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_27.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_28.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d12a521837b129a9f021525e4e7a8fb25886de1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_28.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_29.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06f122cc734676d3d2083fdc8414a8d91e4e375
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_29.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_3.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3afe5e53157b940cd85ee5952b77d593b653c4b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_30.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447a5b7927aa8f48f30337aa5c1d38d7e035ba5b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_31.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ce3e7de461de810d99e8736ca582ec9846893e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_32.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a6f41f0d67e5b284488549960f7193666930987
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_32.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_33.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8698ae34063c119996003b8625baa8804fe4be1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_33.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.06288336 0.08043238 -0.01338167
+v 0.06288336 0.10190047 -0.01339180
+v 0.06669278 0.10303598 -0.01339434
+v 0.06454206 0.08043238 -0.01338167
+v 0.06288336 0.08043233 -0.00032759
+v 0.06288336 0.10303598 -0.01339179
+v 0.06669278 0.08322922 -0.01338166
+v 0.06288336 0.10358447 -0.01335099
+v 0.06669278 0.10358447 -0.01335099
+v 0.07163451 0.10358447 -0.01330255
+v 0.07163451 0.10303598 -0.01334334
+v 0.06669278 0.08043238 -0.01337912
+v 0.07844766 0.08043229 0.01217067
+v 0.06288336 0.08818143 0.00014921
+v 0.07163451 0.08322922 -0.01332812
+v 0.06288336 0.10358442 0.00097535
+v 0.07602621 0.10358446 -0.01182122
+v 0.07657195 0.10303597 -0.01168099
+v 0.07163451 0.08043238 -0.01332557
+v 0.08483108 0.08043228 0.01265255
+v 0.08483108 0.08160179 0.01264490
+v 0.08483108 0.08322912 0.01262961
+v 0.07857442 0.08322913 0.01211969
+v 0.07885159 0.08641806 0.01200242
+v 0.08483108 0.10358438 0.01152315
+v 0.07661922 0.10358446 -0.01161980
+v 0.07911372 0.10358446 -0.00998804
+v 0.07911586 0.10303597 -0.00999059
+v 0.07657195 0.08043237 -0.01163263
+v 0.07442336 0.08043238 -0.01236947
+v 0.08483108 0.08043235 -0.00573534
+v 0.08483108 0.09773233 0.01211464
+v 0.08345814 0.09699799 0.01209424
+v 0.08281571 0.09313138 0.01219366
+v 0.08425741 0.10030024 0.01185969
+v 0.08483108 0.10081927 0.01192598
+v 0.08483108 0.10358444 -0.00579135
+v 0.08483108 0.10303595 -0.00579135
+v 0.07907934 0.08043237 -0.00995497
+f 1 2 3
+f 1 3 4
+f 1 4 12
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+f 1 20 13
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+f 1 8 6
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+f 22 34 23
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+f 24 35 25
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+f 27 37 28
+f 28 37 38
+f 28 38 31
+f 28 31 39
+f 28 39 29
+f 32 36 33
+f 33 36 35
+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_34.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de89a0e54847d97dee148c66cde6d1daedd3b495
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.07166187 0.11952364 -0.00529844
+v -0.06672110 0.11952364 -0.00520012
+v -0.07664926 0.11952364 -0.00523811
+v -0.08153954 0.12284616 -0.00439787
+v -0.06663952 0.11952364 -0.00519565
+v -0.08174541 0.11952364 -0.00497442
+v -0.08331464 0.11952364 -0.00487163
+v -0.08648032 0.11952364 -0.00466380
+v -0.08648032 0.12284615 -0.00407161
+v -0.08153954 0.12642365 -0.00254533
+v -0.07660265 0.12284616 -0.00412301
+v -0.06580830 0.11952364 -0.00511967
+v -0.07660265 0.12616966 -0.00224812
+v -0.09137837 0.11952363 -0.00388167
+v -0.08648032 0.12621869 -0.00225259
+v -0.09829623 0.12954119 0.00152624
+v -0.09322727 0.12954120 0.00073070
+v -0.08750964 0.12954120 0.00031505
+v -0.08648032 0.12954120 0.00028600
+v -0.08236301 0.12954120 0.00021896
+v -0.08153954 0.12954120 0.00021673
+v -0.07326996 0.12954120 0.00045807
+v -0.07138221 0.12954120 0.00053181
+v -0.06208329 0.11952364 -0.00475095
+v -0.06672110 0.12954120 0.00097651
+v -0.06177644 0.12954119 0.00145473
+v -0.09295926 0.11952363 -0.00324703
+v -0.09490528 0.11952363 -0.00232412
+v -0.09829623 0.12484573 0.00073515
+v -0.09829623 0.12954114 0.01511071
+v -0.05960902 0.12954119 0.00180557
+v -0.05861853 0.12954119 0.00196646
+v -0.05861853 0.11952363 -0.00406045
+v -0.09829623 0.11952362 0.00016082
+v -0.09829623 0.11952358 0.01140784
+v -0.09004995 0.11952358 0.01212517
+v -0.08889244 0.11952358 0.01220562
+v -0.05861853 0.12875072 0.01726714
+v -0.05861853 0.12954114 0.01753084
+v -0.05861853 0.11952358 0.01177433
+v -0.08648032 0.11952357 0.01234640
+v -0.06500425 0.11952357 0.01235310
+v -0.06188520 0.11952357 0.01234640
+v -0.08486058 0.11952357 0.01237769
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+f 16 31 26
+f 16 26 25
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+f 16 23 22
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+f 16 21 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 24 26 31
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+f 28 34 29
+f 30 35 36
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+f 32 40 33
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+f 38 41 44
+f 38 44 42
+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_35.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39010a2f775f762a7d7666f323d78fa211266040
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_35.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.06671836 -0.10171200 -0.01339696
+v -0.06671836 -0.09505156 -0.01339946
+v -0.06474722 -0.10000549 -0.01339696
+v -0.06474722 -0.10171200 -0.01339445
+v -0.07165948 -0.10171200 -0.01331902
+v -0.06474722 -0.08712621 -0.01339691
+v -0.07165948 -0.09010002 -0.01331898
+v -0.06971694 -0.07719194 -0.01334658
+v -0.06671836 -0.07719194 -0.01339436
+v -0.06474722 -0.07719194 -0.01339436
+v -0.06474722 -0.10171205 0.00105016
+v -0.07485008 -0.10171201 -0.01218004
+v -0.07652094 -0.09505157 -0.01158162
+v -0.07460496 -0.07719194 -0.01226041
+v -0.07165948 -0.07719194 -0.01331390
+v -0.06474722 -0.07719199 -0.00006609
+v -0.07745238 -0.07719203 0.01106468
+v -0.07866162 -0.07719203 0.01209302
+v -0.07879439 -0.07905696 0.01203770
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+v -0.08561269 -0.10171203 -0.00553728
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+v -0.08139875 -0.07719204 0.01228662
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+v -0.08561269 -0.09357314 0.01217593
+v -0.08561269 -0.09422119 0.01212312
+v -0.08561269 -0.07719203 0.01217097
+v -0.08300630 -0.07719204 0.01227405
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+f 29 36 30
+f 33 38 34
+f 34 38 37
+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_36.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d00d61d6935a95658b7ff45bc0b810a2dfcc5a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_36.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.10127806 -0.07706339 0.01903912
+v 0.10138448 -0.07706339 0.01900553
+v 0.09643232 -0.07706338 0.01744133
+v 0.10127806 -0.08019688 0.01898633
+v 0.10138448 -0.08019688 0.01897433
+v 0.10138448 -0.07706333 0.00250470
+v 0.08607386 -0.07706336 0.01210340
+v 0.08607386 -0.08377865 0.01220892
+v 0.08607386 -0.09010167 0.01228328
+v 0.08607386 -0.11516025 0.01237195
+v 0.10138448 -0.12477088 0.01609527
+v 0.09456327 -0.07706331 -0.00219748
+v 0.10138448 -0.10001111 0.00042941
+v 0.08607386 -0.07706330 -0.00543623
+v 0.08607386 -0.12477086 0.01171217
+v 0.10138448 -0.12477083 0.00172002
+v 0.09532768 -0.09010161 -0.00279970
+v 0.09259979 -0.07706331 -0.00335144
+v 0.10138448 -0.10011385 0.00042222
+v 0.09569939 -0.09505636 -0.00293887
+v 0.08717401 -0.07706330 -0.00519393
+v 0.09139773 -0.09505635 -0.00476216
+v 0.09139773 -0.10000642 -0.00482216
+v 0.08607386 -0.10000642 -0.00546511
+v 0.08607386 -0.12477081 -0.00250714
+v 0.08645606 -0.12477081 -0.00246876
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+v 0.09139773 -0.11981140 -0.00379303
+v 0.09578332 -0.11486133 -0.00288616
+v 0.10138448 -0.11496407 0.00063568
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+v 0.10138448 -0.10502656 0.00013431
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+v 0.09139773 -0.11486132 -0.00469986
+v 0.09677106 -0.10966374 -0.00267262
+v 0.10138448 -0.11021013 0.00016788
+v 0.09139773 -0.08515153 -0.00439506
+v 0.10138448 -0.10554492 0.00011751
+v 0.09680253 -0.10503589 -0.00267501
+v 0.09139773 -0.10990657 -0.00481979
+v 0.08607386 -0.10757630 -0.00546034
+v 0.08607386 -0.11979270 -0.00479584
+v 0.08607386 -0.11943780 -0.00483183
+v 0.08607386 -0.11473989 -0.00520126
+v 0.08607386 -0.10990657 -0.00544595
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 32
+f 1 32 35
+f 1 35 21
+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
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+f 2 16 31
+f 2 31 44
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+f 7 49 53
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_37.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2bef9a6e7feb480aa2aa58c04421dbcbce6777
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.09829863 0.11952362 0.00015956
+v -0.09829863 0.12484573 0.00073575
+v -0.09829863 0.11952358 0.01140692
+v -0.11612812 0.11952362 0.00089135
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_38.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2be3ff85746ec779bac97d8e2a47cc31bc4aa2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_38.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_39.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802382c5ed9a0c33e984c12d97504312b2429240
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_39.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_4.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c46c2f9b90069d5c8ec0cfce8f3861db0b396dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_40.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6106f8dab4b54e108faf704bfbc7990edc96a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_40.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.08645606 -0.14871335 0.00536077
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_41.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab5f9c3f2e42343212da939dfb803277b0ec36a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_41.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.10020874 -0.07719206 0.01872939
+v -0.09812971 -0.07719206 0.01810207
+v -0.10020874 -0.07719200 0.00299648
+v -0.10020874 -0.07916502 0.01869849
+v -0.08561270 -0.11483670 0.01233248
+v -0.09640076 -0.07719205 0.01747237
+v -0.09449320 -0.07719198 -0.00208624
+v -0.10020874 -0.08007448 0.00224083
+v -0.10020874 -0.12483673 0.01551657
+v -0.08561270 -0.12483671 0.01176453
+v -0.08561270 -0.11825554 0.01215188
+v -0.08561270 -0.08906707 0.01226604
+v -0.08561270 -0.07719203 0.01217104
+v -0.10020874 -0.08124519 0.00201033
+v -0.09142397 -0.07719198 -0.00390880
+v -0.09519050 -0.09010246 -0.00271836
+v -0.10020874 -0.10000920 0.00020671
+v -0.10020874 -0.12483668 0.00149216
+v -0.08561270 -0.12483666 -0.00251176
+v -0.08561270 -0.07719197 -0.00548660
+v -0.08706445 -0.07719197 -0.00519195
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_42.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b3787d1402e529d1f361f0a9304dbe11fa2fa3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_42.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.05861712 0.10319019 0.00153588
+v -0.08381562 0.10319016 0.01079400
+v -0.08381562 0.10016410 0.01164025
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+v -0.07654345 0.10319024 -0.01157745
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_43.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e5c8a0b6fbc43641e5faebfc05571204a0eee9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_43.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06669245 0.10358621 -0.01335202
+v 0.06288336 0.10358621 -0.01334950
+v 0.06669245 0.10798956 -0.01300948
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_44.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d072de213e4d47f06437c36eb72e86f49fde1612
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_44.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+v 0.07602783 0.10358620 -0.01182109
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_5.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dfdec36462dfbc6325b0bf56013c45c1f6a0b0b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_6.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0475c5c63cff2c0c1869649c4f846336cbbafb00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_7.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a009522fe738672e8672a521deb3117bd5b52ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_8.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ef2e10d935d8fcbc182dca99380c3ee328b96b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_9.obj b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791f4570fec7ab53a4a3aeb7f406a905c4f3ccf9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh/photo_frame_011_collision_9.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/photo_frame_011.xml b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/photo_frame_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9fce86fcabc1050696d0cffc1befd54cb428603f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/photo_frame_011.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_011_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_011_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_011_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_011_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_011_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_011_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_011_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_011_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/photo_frame_011_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/photo_frame_011_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/photo_frame_011_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/photo_frame_011_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/photo_frame_011_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/photo_frame_011_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/photo_frame_011_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/photo_frame_011_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/photo_frame_011_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/photo_frame_011_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/photo_frame_011_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/photo_frame_011_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/photo_frame_011_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/photo_frame_011_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/photo_frame_011_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/photo_frame_011_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_011">
+      <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" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.urdf b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..279d6db020fc5467f750613ab4de6e0c1d740db5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_011">
+   <link name="photo_frame_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>4918da498a0b5b8c9e838bf3c372e12b</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wavy photo frame</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>gray rectangular photo frame with scalloped wavy border</description>
+         <min_height>0.0325</min_height>
+         <max_height>0.0325</max_height>
+         <real_height>0.0325</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201003</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.124326 -0.148470 -0.012607</min>
+            <max>0.124300 0.151530 0.019887</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd
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+++ b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/photo_frame_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 47104186
diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/textures/material_0.png b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/textures/material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/video.mp4 b/dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/video.mp4
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@@ -0,0 +1,3 @@
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