diff --git a/.gitattributes b/.gitattributes
index a4463d667b320291ba91f4332e1990b3288e6328..c15f28eea4f24767959b8583c3ec71c33e6cb814 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4968,7 +4968,7 @@ dataset/livingroom_supplies/ornaments/80f4893fb6b95553923e58a754bd1148/mesh/phot
 dataset/livingroom_supplies/ornaments/80f4893fb6b95553923e58a754bd1148/mesh/photo_frame_017.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/80f4893fb6b95553923e58a754bd1148/mjcf/mesh/photo_frame_017.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/80f4893fb6b95553923e58a754bd1148/photo_frame_017.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/mesh/watering_can_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/mesh/watering_can_013.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/mjcf/mesh/watering_can_013.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/88d07b71ea64530aa538989726263c98/watering_can_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21ba6782c0b51c89cc15820b1eaec3a2cf563e29
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_024_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd photo_frame_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb93ff3c076a9d01d31c0a1fdd7164e3bb53e0e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f992683e4434858a0fa6a61c592ef741089548ee8d635c2752d340e404eb77
+size 3928613
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.glb b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e505b865458714bad349584a4ffee0241d2703c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef43231d96157e4fab781b19a3464c0bdad6064112d1e3680734e9842f5564a
+size 31681096
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.mtl b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8693318b7e4ef1c0a62368cfee8b7dff806fb221
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_024_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5474b2918d80549a367dd82bf03bcb221857072a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f997d6b854ae160154f5642bc23f37198064a84cc18de48b2b94c3fd85589f19
+size 39937175
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024_collision.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3a73d287e1689c0262e337654c5da459d7e237
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mesh/photo_frame_024_collision.obj
@@ -0,0 +1,11111 @@
+# https://github.com/mikedh/trimesh
+
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+o photo_frame_024_collision.obj_41
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_0.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6077b8a998770b6136d56a8ecbf828b1962cae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_0.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_1.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb269a5a9870ea614306f70609d82397c4cc52b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_1.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_10.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3493403d7fcd5cb3b7c1e752e2540655548759ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_10.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_11.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b7ed1ad936c149ad8438b0c6d7631d215fef144
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_11.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_12.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7313b7672f40bdab084fd0cbe9baeed5f71b0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_13.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f41ceb8bd039d7fbf8ea9fbb86cb9e82b65b5c43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_14.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2eca326631c058f6bcfd4bf827c81b3eeec001
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.06702341 0.01768836 -0.00947773
+v -0.07143030 0.01768836 -0.00948355
+v -0.06702341 0.01768844 -0.02915682
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+v -0.06702341 0.03698472 -0.03343228
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_15.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a037e141b71198622d2a78cb8965a6c488d86f9c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05433828 -0.02521635 -0.05208608
+v -0.03697970 -0.02015923 -0.03153474
+v -0.04189400 -0.02015639 -0.03154074
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+v -0.03205407 -0.00995958 0.00923182
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+v 0.06134031 -0.00995104 0.00920181
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_16.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf40f290edf5154602a75ef4c9e244a594c069c3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_16.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.08945800 0.05353585 -0.07612376
+v 0.08945800 0.05353577 -0.05396847
+v 0.08945800 0.03953023 -0.05677710
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_17.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c95849e6bb1e25138f62bf5144d3f76c8c993e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.07825252 -0.03534232 -0.05208612
+v 0.07620765 -0.03528861 -0.05208612
+v 0.08009565 -0.03513514 -0.05208612
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+v 0.09256660 -0.02794132 -0.02782545
+v 0.09256660 -0.02179878 0.00026458
+v 0.07857651 -0.02031015 0.00923179
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+v 0.07364010 -0.02990956 -0.03116265
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+v 0.07536097 -0.02001472 0.00923179
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_18.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7e780480c5438953dede3c786b699a26aa5ae8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_18.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_19.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536f42707a5bd94620680c79ccf4534a3f507d02
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_2.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93201d6b4ae0660242e2da30db6bd0eeffec1d0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_20.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba38917510aa46a0ee3b18327c66dd22ed9c292
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_20.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_21.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7885467d1979ff2075dfdd455daf0451cf4e29
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_21.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_22.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b47e94718c67b9cc8d92ceb388c2fdb9d9f37dd9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_22.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_23.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baeca05f5861f3d3cb74e9571944d40f4f900167
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_24.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d464db3061bd42b3c36ff050081af589bfcb0291
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_24.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_25.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c32ca5b1fc917f58204d17ae32304b88403614
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_25.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_26.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53133f85e6f6af27800aba2faba86faa87214338
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_26.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_27.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e9cf312ce38248091184d0f942fa94beec041e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_27.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_28.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2c2f3bed6ae988d346c1e9c0722185b8873330
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_29.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d8e79f5be403af5c3a6a690afeb3224bac4d8b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_29.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_3.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b95e957f44deca09e1c72ea399771b598ec0e29
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_30.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e0ab07281b516d2b29375bb12708f722f7c187
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_30.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_31.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79256660313ac59b12380952ddb72b7cd9a17f71
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_31.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_32.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa21de4bf4471b0199ad515ec8bb06eaed59861a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_32.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_33.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5284ac4f30d6856134624c3f33203b3ae8bce2c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_33.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_34.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee57078a25920a8be21f1b8c354f9037abcbf7d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_34.obj
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_35.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0678afdd7fd3e1d4172a37821d2ae843951176f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_35.obj
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_36.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58bec93c9d6301b64346de6a98238c844f390279
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_36.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_37.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94f0efdad12a211bbf08941c2e9f26691923776
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_37.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_38.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a262e275831ea8b7496e453790674141690f469c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_38.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_39.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e748630d650ce899a7947159db1a2ac317a4ce64
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_39.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_4.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df2c59c94fed8e3e58327f516c8c818416558a5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_4.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_40.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e7a6d40b9b21cc5cafe02e1dbf8b5c8c9fa177
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_40.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_41.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951280770b184760827cb8fa2d5d24899c59b132
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_5.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1d9e57586c551c2c39096eea431f549bbb67f81
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_6.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b5ac9e6a90c012c5b80b51e7d5ee79e4f20b906
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_6.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_7.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a5b37db86a5f9731e5a027b8206d1ba292437e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_7.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_8.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cb422fd4874a5fab97b8252a8da693524459b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_9.obj b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48af5c1023c6c17aad450cc02503a41d6c1f380a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/mesh/photo_frame_024_collision_9.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/photo_frame_024.xml b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/photo_frame_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb43c603e21af1ba5c8fb70c3f9baa04ed90bfdf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/mjcf/photo_frame_024.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.urdf b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f817cfd56754fcdd70710768678cffbc87de5836
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
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+   <link name="photo_frame_024">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/photo_frame_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.8500" />
+         <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>84b3476695b050aca99dba18fef79c7e</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>floral frame</name>
+         <color>white,pink</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>ornate white floral tabletop photo frame with rear stand</description>
+         <min_height>0.3000</min_height>
+         <max_height>0.3000</max_height>
+         <real_height>0.3000</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201908</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.126554 -0.071377 -0.132354</min>
+            <max>0.126407 0.080385 0.167646</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd
new file mode 100644
index 0000000000000000000000000000000000000000..769fe67ad5c7bb6493ea513ddb4e4e4d3a516829
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/photo_frame_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab5760c712d6a1abcbbec67b26a782684503e870bd8874c9e13dee610ac3a22
+size 45754427
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/textures/material_0.png b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb93ff3c076a9d01d31c0a1fdd7164e3bb53e0e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f992683e4434858a0fa6a61c592ef741089548ee8d635c2752d340e404eb77
+size 3928613
diff --git a/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/video.mp4 b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4eb4cda3e9ad8d9319bb29859fac3c6187a76639
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/84b3476695b050aca99dba18fef79c7e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ea94c9b19180ae30d898e42334b2eea0fda535418541b0f6774dd83edee7db
+size 420856