diff --git a/.gitattributes b/.gitattributes
index b5f9a8666b09fa00156b98f56edbce15036e200c..9caa99ff6a2b9127c6eb82dcec75e3ae4ce8c149 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5012,16 +5012,7 @@ dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/mesh/phot
 dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/mjcf/mesh/photo_frame_013.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c6350fafc9a05c598f6964c4d94dc099/photo_frame_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c960be8884fb5daf925af667b2ea3623/c960be8884fb5daf925af667b2ea3623.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/diffuser_bottle_014.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mesh/diffuser_bottle_014.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8bcb027c0da574694cb53e94f72759e/mjcf/mesh/diffuser_bottle_014.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/mesh/watering_can_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/mesh/watering_can_017.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/mjcf/mesh/watering_can_017.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c8e88aa862485fefb7ea7f164da1939a/watering_can_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c9e09d0d5bae5e5e861842b30332cb10/houseplant_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c9e09d0d5bae5e5e861842b30332cb10/mesh/houseplant_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c3ab8d570b4e504a8b29c65b0d1c1565/c3ab8d570b4e504a8b29c65b0d1c1565.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/ca11e60e19a75c4c86ba5d70471d8f96/candle_holder_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/ca11e60e19a75c4c86ba5d70471d8f96/mesh/candle_holder_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb673eb5867efd2ce027a55359f81204ffab86c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_019_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df45c83e30eba96b6fb5f0f1e287b5f0610b47f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3954313
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.glb b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ac5dcc5a7d31f3dbd919366557e939413f379e89
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 31984696
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.mtl b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4058a4d144c45d96f4961085f5b3dd453cbc70e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.mtl
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+newmtl photo_frame_019_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36d3e2316e7cab92e8eb385bba74db7e7bf89cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36139af63f6186f28cc7e1342de800fc3365626175a433765e4c0e07df6d742e
+size 39550036
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019_collision.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aafed3f38875e2e5ee704830da2c7845f19499b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mesh/photo_frame_019_collision.obj
@@ -0,0 +1,7328 @@
+# https://github.com/mikedh/trimesh
+
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+
+o photo_frame_019_collision.obj_26
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_0.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22f32a9593144123a58c2e49a6b67abea082f26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_0.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_1.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1992694364d1d036b6abc1c75a167c4ecb3bbb28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_1.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_10.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5f30fb3feb642f0168948ebe76b59472b8b8c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_10.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_11.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd7256b96d5d384ced28a4363c148d147ea1de4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_11.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_12.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0d6359390a5be503e4fe116265c48b8fb1f228
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_12.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_13.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d9b65845e73bba36695d5e3e3dd0e94195256a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00102360 0.09082486 -0.00550406
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_14.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bade4bbb54fd7ecde1d51b4eba87610bd4ad6f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_14.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_15.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ecd88da399bcb3751d7a500cd191c11c1f823e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_15.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_16.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bb81ecfd0fe65341cd8380549104ca3e894b9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_17.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f56456719e41632faa12c2274d8f7fa4239d68
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_17.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_18.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a1868edea35612edb2397119c8667f80b67649
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_19.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e48469938f7892ce1520538bf3af8fc972a0b04
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_19.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_2.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3be22f3c1ad66bc0bedebf7a4b9e643775c1b0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_20.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69dfcf0d2c547a3cf691aaf2a46d2d56f76933ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_20.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_21.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44edadb9e7d032bd7181842054ea643badcea155
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_22.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af719284056eaaa30b3f4b3664be84713576670
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_22.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_23.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e580426d01882331cd27bd9f19482f876311a49f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_23.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_24.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab98caee7953733663d1e892e886ad9dfd7dc77
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_24.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.07752494 -0.11877743 0.02723402
+v -0.07834286 -0.11877743 0.02723402
+v -0.07752494 -0.12011974 0.02723402
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_25.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5211e63bd94cb864041c9b59bbe7a2af8ec66c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.09276925 -0.09679219 -0.01817139
+v 0.09276925 -0.07346367 -0.01784338
+v 0.09281120 -0.09679219 -0.01815519
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_26.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e26d0fa4d343b33d1f3b394bf83507d6569aee
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_26.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.06803590 -0.09679220 -0.01683000
+v 0.08035959 -0.09679220 -0.01682768
+v 0.06516142 -0.09679220 -0.01682768
+v 0.06516142 -0.07346368 -0.01629156
+v 0.08035959 -0.07346368 -0.01629156
+v 0.08035959 -0.09679229 0.00687587
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+v 0.08035959 -0.07346372 -0.00545499
+v 0.06650195 -0.07346372 -0.00585643
+f 1 2 6
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+f 3 8 4
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_3.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a70704a8456ba032bc0494258089207c70f07e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_3.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.06311580 0.14808095 -0.00322608
+v 0.06311580 0.14801121 -0.00292826
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_4.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0afada6d8b1d19589b56c83dd7fe40702da6ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_4.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_5.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142387381ba4b274311c45808597b3b4950891b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_5.obj
@@ -0,0 +1,163 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_6.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2d965c6866b304839d154edc413e858ee5c255
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_6.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_7.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1da619fd04a1053b2becd8e60f5ad4a5d7f9120
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_7.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_8.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c7e639fd2cf04c1441269b53b46971c52ca426
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_8.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_9.obj b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9393f3a9ddf7492e60a1127e06394acf3110987
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/mesh/photo_frame_019_collision_9.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/photo_frame_019.xml b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/photo_frame_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bafb84c231fc5fa0735e38ca20245e77c0469f05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/mjcf/photo_frame_019.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+  <worldbody>
+    <body name="photo_frame_019">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.urdf b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..623ad65f04a2c8ae41d07f404314f84ed807d880
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.urdf
@@ -0,0 +1,67 @@
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+   <link name="photo_frame_019">
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+         <geometry>
+            <mesh filename="mesh/photo_frame_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <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>c58cb76b85ce56f1831d2e55e661091b</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>rustic frame</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>square dark wooden photo frame with decorative corner straps</description>
+         <min_height>0.0465</min_height>
+         <max_height>0.0465</max_height>
+         <real_height>0.0465</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201530</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.138570 -0.150133 -0.018795</min>
+            <max>0.140750 0.149867 0.027670</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/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.usd b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/photo_frame_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94d6d42d877682a3c0657861500107e727b1d7fec06efcbd6f914098da11302
+size 45879863
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/textures/material_0.png b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d00446e58f294d629ffbd6ed835d0acea4cfaf4d262970d1adfa10e77c09cfe
+size 3954313
diff --git a/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/video.mp4 b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..374f2f7e452503b7d177b256b5583b72cad4cbe7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c58cb76b85ce56f1831d2e55e661091b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3b9a54850546950ecf6dcb5f0d215c8e553bcb2d0ba86945819dbe6e2dfe01
+size 536837