diff --git a/.gitattributes b/.gitattributes
index 9bc6f511e7348dd520a76016a87b99483fae08d2..dfa0f1f72fe74f7e6b98d9c53e2e6e737c331f61 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4985,3 +4985,5 @@ dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/mesh/wate
 dataset/livingroom_supplies/ornaments/a3fa12f1d57656e78fd25abb4d0bfc09/watering_can_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/diffuser_bottle_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/a2176960deee5fc8b0f9b4f46cd78b43/mesh/diffuser_bottle_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e76d9a1472502bed7d2a6e917ebafc3277e8183
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/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/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.glb b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.mtl b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d0b00dcf6130ccd43e4c563896d795fb11a4543
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.mtl
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+newmtl photo_frame_039_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf46ecae1248ca01b497e5ab87f94b2f53c8cc7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039_collision.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc723866dc0296a73ea8592991b6da6c4718b9cd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mesh/photo_frame_039_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f19c3a072ad8b8eb6b234157ac8a40c6a513eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision.obj
@@ -0,0 +1,6955 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_0.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4173d3044f754bf48b1c7b845826fac498923af2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_0.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_1.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b20489d78ff71604370b15b445a072c67e5093a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_1.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_10.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc414af1af941010debe8e3c962ca84c7be16c2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_10.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_11.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd1cc70f16192f250fbb84abb580158ec170d7a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_11.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_12.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89ea2f6c2c78cb3c1f6bfd27f91935e0427e02f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_12.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_13.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d389d81212d813cdd443b6fb9c24ee38b9253
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_13.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_14.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe811290a6c9e5777c1e805269691fdf86443473
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_14.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_15.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbf2eb504aeacb71fc21dcb905d9b3eaf633412
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_15.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_16.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad12603cf872b50b2d1c4cf514fc3f4487cb4fd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_17.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545a1c0349a0879dd273f122da36873acb02f84e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_17.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_18.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f8a6f4f7569259d4380eabe0ac77890c84f625
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_19.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcec7f396b673a4d128bf73656b57b8e1f18ee54
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_19.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_2.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e7d8fa6bc79a012144ca6450d2ce3f6105ea5f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_2.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_20.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addf064fc2214801ca969552b6ef49c07a0a0690
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_21.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27c5d7d770a3e31595da3db35f94fd669aadd39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_21.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_22.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cc71ac2282f0c5637d55ae51d43f95681b68ce
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_22.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_23.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fedccd894e68d73e955b5b885acc7075de3037
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_23.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_24.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c59efb038bc416d44913c0e87ae0257f6c2a8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_24.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_25.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9723cf932c2dd60b877e6e9c236349ccf3a3e8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_25.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_26.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e1fddd4cef2bb7ab41c5abf8c2c1390c06655d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_26.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_27.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403a76720c04d08fa40dd2953860ba77947d19cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_27.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_28.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d82e53ecd893a212977d476271ab74bce252de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_28.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_3.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355baae69c64de8eaa26236cc41b3545f042461f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_3.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_4.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d1089db9c0c3db25092c27ed04db83029bb395
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_4.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00000661 0.00009062 0.00580801
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+
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_5.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f76703c4441b4419580549e2def3f96c353f8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_5.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02671007 0.00008008 -0.05908260
+v 0.03202466 0.00008011 -0.06848055
+v 0.01578458 0.00008008 -0.05908260
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+
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_6.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70a02556de0743a3669e353d5118aff037ebf7c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_6.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_7.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0885c997b9a2fadba5f5b8666926440dabd186f7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_7.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_8.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d225def5556fd4f28e81943bae3948f302d3c40a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_9.obj b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9917c9ae51efe163a9e0d5f8891dbad1c7372ade
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/mesh/photo_frame_039_collision_9.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/photo_frame_039.xml b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/photo_frame_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98a7d38c612c3d0592eeac56dec298b11da8a575
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/mjcf/photo_frame_039.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_039_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_039_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_039_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_039_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_039_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_039_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_039_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_039_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_039_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_039_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_039_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_039_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_039_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_039_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_039_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_039_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.urdf b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c8d922b82db0aaf6308e0448e6925dd350e340d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_039">
+   <link name="photo_frame_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>b02e2beb81dc5904becb8adc8a000e91</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>tabletop frame</name>
+         <color>white,black</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular white tabletop photo frame with rear support 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>20260609203418</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061484 -0.078741 -0.092536</min>
+            <max>0.039943 0.078759 0.107464</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.usd b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/photo_frame_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9da86bd04be8dfc4f12d093f038d1c03db4201bba82b45f6437279901caa92
+size 4698878
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/textures/material_0.png b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 10483845
diff --git a/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/video.mp4 b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b02e2beb81dc5904becb8adc8a000e91/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:2a1894bea345c74ca830e904650bb8222b4acb86b2601f3dfac18d6c2bd19575
+size 368742