diff --git a/.gitattributes b/.gitattributes
index eb43f7c19183b730e229a9db51232f5f962d7d23..5f3fb4d06acb40e1a535231b7c9cf6070da9afbf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4999,7 +4999,7 @@ dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/wate
 dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/candle_holder_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/mesh/candle_holder_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/houseplant_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/mesh/houseplant_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/houseplant_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/bdaa42a01a09598793eacedf69e746e1/mesh/houseplant_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f96278f0f6a83af06c4b86b0b80946d5aa854dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_025_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd photo_frame_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e6e8586b822928be249b8177482a0d1344492e3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871a52e1ffaf3a76aa7403461aa2dbf4e7c2922d3c8a421446b25a0bf1a46d91
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.glb b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b9b571843149fbc446444e49086d62a19ca49ccd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6083a33e5b8e41b0333274afdc3199800365a985aca82928c2905e7885ac8cc
+size 35883784
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.mtl b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8db6c5115c1123288a278ebabca36c430fd7a003
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_025_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/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9816d5a2d50ab6585186729d394b42c78d8a1a28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0fb9d1067cba65266f6b81137412c1a6eeeb4be3a4c51e960908e6a2ef65c09
+size 40684649
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025_collision.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74316e1a2485963d98f973bf95d95e3b720eabd3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025_collision.obj
@@ -0,0 +1,6795 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_0.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96cec34d92129396c89fd85ab62a1d1f7b9c9eb8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_0.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_1.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f4e11af77ba380f31f91c23e794793de62b0e1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_1.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_10.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ed015768c772d0bb2d6b51790b27c04d417ae0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_11.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2388cb434462f3a154f6ed67a7c518de6e5e1636
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_11.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_12.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca306a98fe08eca36d146c4ecc8fb654ec463eb7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_12.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_13.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5b95411ec86e63429152bd165217377f50b46c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_13.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_14.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8de6bf60b1c464c86e61ec9933607ed390b9a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_14.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_15.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0a3930a941d8e80ac1ed428848b8027e4289a6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_15.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_16.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b1b7e9073609e6998cc9a665f270e6389fe843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_16.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_17.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158b550c9eb67d79b2ad6a870d87b4b9c6673306
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_17.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_18.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae211488c7b4a68c5f713607b160a7739d0ed6b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_19.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95cd495d66cd8b15b60d9a963bd3c3c338003d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_19.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_2.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973a686dcdc1575a0dafbbcb0d224108c0cd20f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_2.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_20.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffaeb7472bfce15255116c9a39167165c4b0d8a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02014550 -0.09395384 -0.01470287
+v 0.02449597 -0.09395384 -0.01490848
+v 0.02014550 -0.09395386 -0.00719657
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+
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_21.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577b17c7ed9f689bd270ae0f05a7106c3c920340
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_21.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03636978 0.02475312 0.00036987
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_3.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2301c8656e03e2b617800de7935d784760409a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_3.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_4.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559f72600b6bd6545e86fa6b2157127222610a17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_4.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_5.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ec94bc0cc7ee6e1a60af1a4a85ca2c2a537cf1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_6.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b183471945e41a13d0ee5b0723f79eb548c874b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_6.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_7.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e24d467f3874141011053e7f25f595c7e461837
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_7.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_8.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d3f45541822099f32b96c100f3a58a9124fd0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_8.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_9.obj b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ff79aff2b94cd9c693dd2995b586c8f90891f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/photo_frame_025.xml b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/photo_frame_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2920e00f4acb6e4d64c36dda6a49bc893eb91677
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/photo_frame_025.xml
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+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_025">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.urdf b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff580e5e32f298b9a3929a58901b843e5ff9c39a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_025">
+   <link name="photo_frame_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.9000" />
+         <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>c0db466c3bcc5ce7af7af6d1b3df7922</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>decorative photo frame</name>
+         <color>white</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>white rectangular frame with raised cherub figurine decoration</description>
+         <min_height>0.0604</min_height>
+         <max_height>0.0604</max_height>
+         <real_height>0.0604</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201954</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.113469 -0.157066 -0.017056</min>
+            <max>0.117954 0.142934 0.043334</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>NO: {"summary":"Decorative insert and outer frame are merged; green also includes stray fragments not fixable by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.usd b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5e943d3c3fdb15bf4aec0a66afd842349dba87a810abebc2d6abf1e6e2bb1e
+size 47915243
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/textures/material_0.png b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4533476
diff --git a/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/video.mp4 b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20f1b9800e4ab979ac50a3159fcdac92a26a7ec0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7486af38310c811308c21694b282a287ddd71cdaeb79c4f2a9c3b0455c761780
+size 509740