diff --git a/.gitattributes b/.gitattributes
index 1a8e6bdbccaaa1203d99325ccc31262eec6b4ce0..ec59d2ac0cad1f69f5f9d32af97f5960c40a2ae7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4947,5 +4947,7 @@ dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/diffuser_
 dataset/livingroom_supplies/ornaments/64eae5a4997a5b9e9cf6a8329fa65dca/mesh/diffuser_bottle_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/houseplant_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/65111ab0169653adb1227019b9e6577c/mesh/houseplant_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/7044e273492050809250fba125d7a1c4/7044e273492050809250fba125d7a1c4.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/704de89d50895a8c864ca8706b918487/704de89d50895a8c864ca8706b918487.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29699372b1cfc957f2387429da2f7f61b2aa5094
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..962723b42ee9a998e132c98c713563d0344f826e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a32c456138d240f93e3aa56905010cdd8f9f5f1542c7d8f4d23d9a322259cd
+size 4627138
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.glb b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..20f7a1cb49e5a80f682746cb2b33ff68a7c6481a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0705119f54d808389bc263d0c6aa13812decea01d98baf78b128210ee3f23f5
+size 30053088
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.mtl b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e619309c2609c0c4317cf57e7d906b3d7f0b49e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_021_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/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058a1dbeef988f8ec1a38e125ac37aef17452a39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701e7917eb6a6dc952a1d8f3ba3f40bc5102b058eb94af7a5642b3b994c73163
+size 39212732
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021_collision.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3724b8b78b765cc127af01d667767c0dde551d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mesh/photo_frame_021_collision.obj
@@ -0,0 +1,6430 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_0.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3de4eda90d14adf1f3943ba47df76582b1a144
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_0.obj
@@ -0,0 +1,157 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_1.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee56fd3265f041660e12885ef2d33846d3573391
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_1.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_10.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde346a1c09a0d407d719bf70b94db8bedd2e517
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_11.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8daf5edd4935429e699bea7c6b0faf31b6a76edb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_12.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d21936104c4478513f1a7ca0ee84dec812da65ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_12.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_13.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b2e276ed0c1da372038e1097e382ffbc685435b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_13.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_14.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86f1ac7277a5e94ecf332933920a8ada8613a32
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_15.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351ad290d3e212303020e6f07d3f771fee9e1324
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_16.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e683d3cb63d4c3cbfca70fba8633d2988f57a88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_17.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3279d266470e9afd1cd95705ba2177c2595fa21
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_17.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_18.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a0442f5f01f3c907b9967c38c6689111f8a0a1a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_18.obj
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_19.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d817a3f90eba095b3f61a36748519d639f93c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_19.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_2.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec8d4d3fa5664bee7cb92d80a65d3fc4c3e2ec8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_2.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_3.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec2e7ac33a2133dc2d48333fbfbaedd03b6de86a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_3.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_4.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0502e0462832b079b193222f7b040b7c4b0f69a7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_4.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_5.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa6d18c2c8b4f4a4cbf58598970e0667bbe8b84
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_5.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_6.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc566a2533154b79ec6a543b97c8d6f3ab661c34
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_7.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683b24f6831090df41fa61fedad2e621ad008558
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_7.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_8.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24aca11e4bc3f4cc304908e07cb741cc1f0a898b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_9.obj b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472230e1a834012bd255031b406fa0d90f7f76d1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/mesh/photo_frame_021_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/photo_frame_021.xml b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/photo_frame_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a91815023c22c1fa158220a05ac1331ed702a318
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/mjcf/photo_frame_021.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.urdf b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16c652cf48a482daa327bf332cfec300dc389133
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_021">
+   <link name="photo_frame_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</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>6df43f2c2efe57608ad286cf12355428</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>square photo frame</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>square rustic frame with newspaper print border and eiffel tower photo</description>
+         <min_height>0.0396</min_height>
+         <max_height>0.0396</max_height>
+         <real_height>0.0396</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201700</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.135692 -0.145676 -0.011659</min>
+            <max>0.131834 0.157454 0.027902</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/6df43f2c2efe57608ad286cf12355428/photo_frame_021.usd b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/photo_frame_021.usd
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+size 44302908
diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/textures/material_0.png b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/video.mp4 b/dataset/livingroom_supplies/ornaments/6df43f2c2efe57608ad286cf12355428/video.mp4
new file mode 100644
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