diff --git a/.gitattributes b/.gitattributes
index a0298f0793d2b7a1c3b37d2bf807d0d0c5bc448f..169375ab43250bab0ea0f9dab6fcd299fc1cc6c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4926,7 +4926,5 @@ dataset/livingroom_supplies/ornaments/3c09bca46201589eae254b5cccc84e56/mesh/diff
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 dataset/livingroom_supplies/ornaments/438c0b2fae2d5f1bb6a2815d126f2c06/438c0b2fae2d5f1bb6a2815d126f2c06.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/47aea598c1be5400b43f19fd645414d8/47aea598c1be5400b43f19fd645414d8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/3da57056136c57ecac42b6b1380efd84/houseplant_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/3da57056136c57ecac42b6b1380efd84/mesh/houseplant_023.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/diffuser_bottle_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/4817dd48fe1d521b9f17336657eba128/mesh/diffuser_bottle_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fef1f585d230380d9ce15f6eb6467535f371c134
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.glb b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.glb
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.mtl b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5e9def9b2acfa6abf3c81fb3906fb64c03f29e8
--- /dev/null
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+newmtl photo_frame_037_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd98380584d720ba8b23552153d4357f8aba7315
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037_collision.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc02e8f1035dcd6794c704df5400cdd5a9fba72
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mesh/photo_frame_037_collision.obj
@@ -0,0 +1,5265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd6c8b8979957677d59c7ba1a527030244d3704
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision.obj
@@ -0,0 +1,5265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_0.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23eeec326ae455cb7a0365baeb3d16350b7a088
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_0.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_1.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9a6f21e5811f2d56b48d1455f6b217ab4e339d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_1.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_10.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ab0d8adebd00d4d8527132214b93cf585abed1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_10.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_11.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016a924f74aff65add9bdc8fda12a9a1d466f521
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_11.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_12.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41850a3c36ff9843a0bbba244b4c131754df3b07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_12.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_13.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfdf4cb71049fba9b35ecae49dff663d1520c34
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_13.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_14.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de00e6d3d4d506bf595b421f63bc2ea6783360b2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_14.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_15.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f94f0f8a3135c2790b64034e36b57a3b7db853
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_15.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_16.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1602a2a2e5ecfb68ea177065ebd2a9da068f9041
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_16.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_17.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ca8011f24b76193298cafcac8c5f7c7e6a3b53
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_17.obj
@@ -0,0 +1,139 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_18.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70411dae7a6303362ec337762968eaffc1a1a774
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_18.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_2.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c869af2c0ae1ef95b0b1eaf247b13634cc9a0b5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_2.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_3.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51c549489683e2be1008efc76f42ec108e79d8e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_3.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_4.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08795ec4bb96273c9489e0c798aab53f5713a6d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_4.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_5.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ba333ed441d9842c5647ca8e66354dcc5baf9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_5.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_6.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9164bc7c4115a10b5e75071e18e55ba9153ee119
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_6.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.06439181 0.00245155 -0.00873807
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+
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_7.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9ddd9b8f0f5cc90d36cf2caf1d780fd7b90b80
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_7.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_8.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0dba68aba8035f536ffdb609cff23625a8277a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_8.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.00111694 -0.05437757 0.00528053
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_9.obj b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae8a02096a2fd9e80226d55805b907244aaaa92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/mesh/photo_frame_037_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/photo_frame_037.xml b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/photo_frame_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51c044632d0f49aff8d8b0682fcada61ac8510f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/mjcf/photo_frame_037.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.urdf b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbeb388968dc05e23bd0348a77b37c354c711c49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_037">
+   <link name="photo_frame_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4248c22fe05657d19dea02697410cb49</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>green photo frame</name>
+         <color>green</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>square dark green photo frame with wavy textured border</description>
+         <min_height>0.0254</min_height>
+         <max_height>0.0254</max_height>
+         <real_height>0.0254</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203334</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.099992 -0.092779 -0.010252</min>
+            <max>0.100008 0.094245 0.015142</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/4248c22fe05657d19dea02697410cb49/photo_frame_037.usd b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/photo_frame_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2248428a53f0a976282fe081a64f061adc06623f136ac3baf4edf5414e5ba2f7
+size 4841121
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/textures/material_0.png b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11751782
diff --git a/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/video.mp4 b/dataset/livingroom_supplies/ornaments/4248c22fe05657d19dea02697410cb49/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 489519