diff --git a/.gitattributes b/.gitattributes
index 7cc59c84a114258e71cec6a9cdcbfcafc153bbcb..df1b8ce920bc28c5afd7958cb5b7e5016a218cab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5038,3 +5038,5 @@ dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/wate
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/mjcf/mesh/watering_can_019.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/watering_can_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..74a8e6827edf6e3d60881356570810a5b86b2f71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_032_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/e5c83117f2e55182879b9f6555c712b3/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.glb b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aa1814ce7a7fa9f2b1577e25fe3a32d3f0a5dceb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d00b076cdb8bf95608df5ca76e9fdd1e49575a9acca8665f855329c004bf49
+size 12125884
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.mtl b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d606833a3503947e7ee8ef6f2f1ca8f990498ef2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_032_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/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ff2fcd0958a4bdb5f40d9ac9bcad9f2faf8a8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032.obj
@@ -0,0 +1,106344 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl photo_frame_032_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032_collision.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03431bb53fb376b0c7882759f178dbef6e95034a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mesh/photo_frame_032_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2481f0365c0d663327735db8485307f760d1679b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision.obj
@@ -0,0 +1,8863 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_0.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f152714638e81bd64ac70743b4f4477de3b79f7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_1.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75aa073f50eb3a0ea1ad6c11b8e76e38c9958ef0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_1.obj
@@ -0,0 +1,1213 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_10.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d23452299dea882ded3c97e47ea40b32d5d4a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_11.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba53f525bacdf7df0ade4d6aa7946ded7a1d92c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_12.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3eaa288632f8d1617f38d8056310ef19f237236
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_13.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57e0d09e3ac4f2ae4b9dc76dc7483f7d91bdb0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_13.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_14.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2475d5fe7ad66ce364168086cfb053bf58a9c431
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_14.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_15.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065a661c09d2a76936a0639d7ad288565fb2e60b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_16.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59293a51b469e909195fc22fbabc5984f45b40e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_17.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572c897b0c8a6e83935a69e9df0fc87c4b658d69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_18.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9095905ddda58802083e25f70d2be1e5c4956743
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_19.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2703f260812df4e1c1814bbc3df299c24b4ffda8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_2.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34400df792dff659891fc580d4865f605939a099
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_2.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_20.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8e521b767e53f930a4c9fc5d72d947f3e95abb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_20.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_21.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd00e25e5b70d500be78a65249d5f943c129915
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_21.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_22.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3694fc65d147c48f23e055070f93abd059618071
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_22.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.00821850 -0.07108545 0.09126789
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+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_23.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c88250e850a808332f1f49b25dce24cf6e80af0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00388356 -0.06991871 -0.01604025
+v 0.00388978 -0.06876659 -0.01604024
+v 0.01711064 -0.06991871 -0.01604025
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+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_24.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e0ebcbd936a9d8341bc9e132c8171443c855f3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00821769 0.00415208 0.00847495
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+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_25.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801bfee82fe4395a389f61d0bb4a5c8c58468bc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_25.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03327378 -0.05649947 -0.03254701
+v -0.03327378 -0.05649953 -0.01652123
+v -0.03327378 -0.05561681 -0.03280477
+v -0.01976410 -0.05649957 -0.00484468
+v -0.03260458 -0.05649954 -0.01491975
+v -0.03252391 -0.00749711 -0.02779175
+v -0.03282544 -0.00749711 -0.02851570
+v -0.03327378 -0.00749710 -0.02959616
+v -0.03327378 -0.05246991 -0.03372068
+v -0.01976410 -0.00749716 -0.01299451
+v -0.01976410 -0.05649963 0.01063264
+v -0.03327378 -0.04843553 -0.03487242
+v -0.03327378 -0.04575396 -0.03562927
+v -0.03327378 -0.04316832 -0.03634773
+v -0.03327378 -0.04246794 -0.03653969
+v -0.03327378 -0.04001182 -0.03720880
+v -0.03327378 -0.03918192 -0.03743365
+v -0.03327378 -0.03260509 -0.03918868
+v -0.03327378 -0.02932387 -0.04004425
+v -0.03327378 -0.02603785 -0.04087241
+v -0.03327378 -0.02290055 -0.04166216
+v -0.03327378 -0.01946102 -0.04251773
+v -0.03327378 -0.01660674 -0.04322523
+v -0.03327378 -0.01288899 -0.04413016
+v -0.03327378 -0.00991958 -0.04483217
+v -0.03327378 -0.00943027 -0.04494734
+v -0.03327378 -0.00749704 -0.04539707
+v -0.03028750 -0.00749713 -0.02245531
+v -0.03061284 -0.00749712 -0.02322862
+v -0.03109028 -0.00749712 -0.02436392
+v -0.03151084 -0.00749712 -0.02536759
+v -0.03128734 -0.05649955 -0.01180454
+v -0.01976410 -0.00749722 0.00146270
+v -0.01976410 -0.02121214 0.00410070
+v -0.02331907 -0.05649961 0.00465451
+v -0.03102680 -0.05649955 -0.01119028
+v -0.03074378 -0.05649955 -0.01052665
+v -0.02834073 -0.00749714 -0.01789219
+v -0.01999951 -0.00749721 0.00100748
+v -0.02661615 -0.05649959 -0.00135104
+v -0.02515342 -0.05649960 0.00142413
+v -0.02480295 -0.05649960 0.00207678
+v -0.01976410 -0.00945444 0.00185210
+v -0.01976410 -0.01841542 0.00357420
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+v -0.03041579 -0.05649955 -0.00976430
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+v -0.02591123 -0.00749717 -0.01221022
+v -0.02053778 -0.00749721 -0.00005103
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+v -0.02687272 -0.05649958 -0.00186659
+v -0.02423426 -0.05649960 0.00308594
+v -0.02482940 -0.00749717 -0.00969282
+v -0.02987884 -0.05649956 -0.00853028
+v -0.02437974 -0.00749718 -0.00865076
+v -0.02126120 -0.00749720 -0.00160315
+v -0.02732767 -0.05649958 -0.00279347
+v -0.02974394 -0.05649956 -0.00822315
+v -0.02265119 -0.00749719 -0.00469642
+v -0.02182989 -0.00749720 -0.00286459
+v -0.02809738 -0.05649957 -0.00449367
+v -0.02852192 -0.05649957 -0.00545347
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+f 1 27 26
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+f 1 24 23
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+f 1 22 21
+f 1 21 20
+f 1 20 19
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+f 1 16 15
+f 1 15 14
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+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 35
+f 1 35 45
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+f 43 45 44
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+f 54 58 59
+f 54 59 55
+f 56 60 61
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+f 59 62 61
+f 59 61 60
+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_26.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3127f08b03f6bd61e624931dba302ee9d0ea9d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_26.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00547051 -0.04019613 -0.01604014
+v 0.00574554 -0.02603327 -0.01604009
+v 0.01392969 -0.04019613 -0.01604014
+v -0.00409254 -0.04019625 0.01536395
+v -0.00409254 0.00414135 0.01414812
+v 0.00581430 -0.02274322 -0.01604007
+v 0.01489232 0.00414146 -0.01603997
+v 0.01328113 -0.04019614 -0.01357399
+v -0.00409254 -0.04019638 0.05048433
+v 0.00640154 0.00414146 -0.01603997
+v 0.00638667 0.00354682 -0.01603998
+v 0.00635322 0.00211014 -0.01603998
+v 0.00620641 -0.00447865 -0.01604001
+v 0.00616553 -0.00631466 -0.01604001
+v 0.00609491 -0.00960037 -0.01604003
+v -0.00409254 0.00414120 0.05374992
+v 0.01064042 -0.04019618 -0.00367525
+v 0.01267345 -0.04019615 -0.01129229
+v 0.01221630 0.00414142 -0.00614806
+v 0.00647773 -0.04019623 0.01180477
+v -0.00342911 -0.04019637 0.04810016
+v 0.00079677 -0.04019631 0.03262014
+v -0.00163767 0.00414124 0.04474610
+v 0.01165136 0.00414141 -0.00406447
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 20
+f 1 20 22
+f 1 22 21
+f 1 21 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 16
+f 4 16 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
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+f 5 23 24
+f 5 24 19
+f 5 19 7
+f 5 7 10
+f 7 17 18
+f 7 18 8
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+f 7 20 17
+f 9 21 16
+f 16 21 22
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+f 16 20 23
+f 19 24 20
+f 20 24 23
+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_27.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c00b9f76df6a87601d2e6209d31761a7f80c29
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_27.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01044838 0.03044494 0.08226039
+v -0.00821850 0.02984331 0.07564441
+v -0.00821850 0.03044496 0.07565906
+v -0.01044838 0.03044507 0.04659268
+v -0.01044838 -0.06559385 0.07948182
+v -0.00821850 -0.01571307 0.07425268
+v -0.00821850 0.03044510 0.03837031
+v -0.01044838 -0.04903885 0.03571386
+v -0.01044838 -0.06559369 0.03538666
+v -0.00994325 -0.06559385 0.07790961
+v -0.00821850 -0.05683226 0.07294887
+v -0.00821850 -0.05561016 0.07300259
+v -0.00821850 -0.05366419 0.07308559
+v -0.00821850 -0.05232927 0.07312955
+v -0.00821850 -0.05046791 0.07318814
+v -0.00821850 0.01669170 0.03708612
+v -0.00953242 -0.04903884 0.03238390
+v -0.00959420 -0.05155825 0.03238389
+v -0.00960992 -0.05232912 0.03238389
+v -0.01044838 -0.05127624 0.03555761
+v -0.00980638 -0.06559368 0.03238384
+v -0.01044838 -0.06547148 0.03538666
+v -0.00890657 -0.06559383 0.07461870
+v -0.00821850 -0.05998154 0.07277308
+v -0.00821850 0.01511236 0.03694453
+v -0.00821850 0.01341081 0.03679316
+v -0.00821850 0.01153066 0.03662713
+v -0.00821850 0.00798654 0.03631463
+v -0.00821850 0.00448004 0.03601190
+v -0.00821850 -0.00612409 0.03509881
+v -0.00821850 -0.00960239 0.03480583
+v -0.00821850 -0.01945445 0.03399528
+v -0.00821850 -0.02274473 0.03373649
+v -0.00821850 -0.04080371 0.03238393
+v -0.00979852 -0.06470061 0.03238384
+v -0.01044838 -0.05232913 0.03549901
+v -0.00821850 -0.06559368 0.03238384
+v -0.00821850 -0.06559383 0.07239222
+v -0.00821850 -0.06311201 0.07256800
+v -0.00821850 -0.06219073 0.07263148
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
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+f 1 20 36
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+f 1 22 9
+f 1 9 5
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+f 17 30 31
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+f 17 33 34
+f 17 34 37
+f 17 37 21
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+f 17 35 19
+f 17 19 18
+f 19 35 20
+f 20 35 36
+f 21 22 36
+f 21 36 35
+f 23 38 39
+f 23 39 40
+f 23 40 24
+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_28.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd94c62a0b542a2ce94786a531fb7f79d3570456
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_28.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00821788 0.00414547 0.07481809
+v -0.00759272 0.00414547 0.07298014
+v -0.00821788 0.00414571 0.00847684
+v -0.00821788 -0.06957951 0.07344098
+v -0.00680036 -0.06957950 0.07064185
+v -0.00699623 0.00414548 0.07120066
+v -0.00409254 0.00414569 0.01414653
+v -0.00409254 -0.05052742 0.01273701
+v -0.00409254 -0.05232436 0.01273052
+v -0.00409254 -0.06957929 0.01286034
+v -0.00821788 -0.04304378 0.01491270
+v -0.00821788 -0.06957931 0.02004325
+v -0.00629918 -0.06957949 0.06910266
+v -0.00686215 0.00414548 0.07060316
+v -0.00409254 -0.06957946 0.06041302
+v -0.00409254 -0.04904096 0.06008188
+v -0.00409254 0.00414554 0.05374346
+v -0.00821788 -0.06534315 0.01868592
+v -0.00821788 -0.06291115 0.01822482
+v -0.00821788 -0.06218949 0.01809493
+v -0.00625678 0.00414549 0.06790145
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 17
+f 1 17 7
+f 1 7 3
+f 1 3 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 10
+f 4 10 15
+f 4 15 13
+f 4 13 5
+f 5 13 6
+f 6 13 15
+f 6 15 16
+f 6 16 14
+f 7 17 16
+f 7 16 15
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+f 7 9 8
+f 10 12 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 14 16 21
+f 16 17 21
+
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_3.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56c06fb7b94496eeb4a34c133614cced52f69f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_4.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73eae8200334996007af2295ace38cb0994fa1d4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_5.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d6d9236629363466b2b6f881dd0f9aa83bbb39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_6.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ab4ed5dc65089ccbd013068eb3e92d4a0a9f05
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_7.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db0a5609a70de654515d608c800f937c86d8a64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_7.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_8.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04598071c45b47e8112c9898495a6d22d83fb06
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_8.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_9.obj b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/mesh/photo_frame_032_collision_9.obj
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/photo_frame_032.xml b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/photo_frame_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3bf1b0e87e254d4a3ef2fd08528068cf74ef4f69
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/mjcf/photo_frame_032.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_032_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_032_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_032_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_032_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_032_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_032_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_032_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_032_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_032_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_032_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_032_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_032_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_032">
+      <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" />
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+      <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_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.urdf b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..802bdfe11bd1e4ce1d489fd9dd01005aa461e3bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_032">
+   <link name="photo_frame_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_032.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_032_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>e5c83117f2e55182879b9f6555c712b3</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wooden photo frame</name>
+         <color>brown,white</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular wooden tabletop photo frame with rear stand</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203138</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.063105 -0.086970 -0.093077</min>
+            <max>0.047493 0.090837 0.106923</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.usd b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.usd
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+++ b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/photo_frame_032.usd
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+size 4589193
diff --git a/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/textures/material_0.png b/dataset/livingroom_supplies/ornaments/e5c83117f2e55182879b9f6555c712b3/textures/material_0.png
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