diff --git a/.gitattributes b/.gitattributes
index ab8a90b11f8a8e8bfd537e392676a88232fb9b2e..cbd9136bbebf05847aa68cfe6073d48ab50f636b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4931,5 +4931,7 @@ dataset/livingroom_supplies/ornaments/3da57056136c57ecac42b6b1380efd84/mesh/hous
 dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/candle_holder_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/44f55925a3815d1a8144ea3dbbdf2a98/mesh/candle_holder_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/4b210d97968753e9a77db7362fb46be4/4b210d97968753e9a77db7362fb46be4.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/4b8204a6a35e5d78b766e15f563a6000/4b8204a6a35e5d78b766e15f563a6000.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/500aab3d17565ee4b2e4e19639fabee3/500aab3d17565ee4b2e4e19639fabee3.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d28bfed1ade20aec5a92d1217343f07e5e05ca8f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_022_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
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+map_Kd photo_frame_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41c7c81ec25fca9d976c8b265c0e09fafc381148
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f62a09bee03859ae11d5b035cb2802dbbb9bd5176d6ae9e60cb6bfcfe2e45b4
+size 3832076
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.glb b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9572ff5ab71801cdc792c1b79f2f5a130f4c439e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3a0e3e020d80c2851681fed97249469397ab75c567b995c398cb1cdcbb1b9a
+size 19036496
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.mtl b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3520684888132d47cf9c7189bced7c0c9313f677
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_022_geometry_Looks_material_0
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+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/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54dd5caa6b43a62b91cb48109ea8c36aa4716468
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e466e3c70913ec275a6f619a483aa05006a0c58ff9a99b2624391d6fd830fc
+size 37605189
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022_collision.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54fb254418eb60aa392fce44fa5b1dcabca223cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022_collision.obj
@@ -0,0 +1,5518 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mesh/photo_frame_022_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022.obj
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index 0000000000000000000000000000000000000000..98a0d77e40759a4df9777494219fb5c5852fcd14
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_0.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe80827fe931564856644bfa597ff0e85a9dce47
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_0.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_1.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..099f841184fdffd24906a38aad86d7a2c7dfba85
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_10.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52710d9e98f8bc24c76b00d8a2e48247f41760e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_10.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_11.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35af622c57fa7c73f39121941058606167261a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_11.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_12.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e625b3fb7449d4b1fe6fcf53e9eeac15242943b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_13.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f2e7a09315c73147796fbfdb85400115f5c459
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_13.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_14.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fb198157db857d6199a407dd57849c7c9889ec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_14.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_15.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9da1869a4e254dd1dc371dffb35d5386225879b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_15.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_16.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68372e85dad987f225a2c331b7da43863ed034f1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_16.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_2.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c531b67a9b8eba484df1a316006f084e8fbd2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_2.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_3.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0989962a2fcde18f5730b118e6d42315fef2d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_4.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711181dd3f328db388ee4584e6f6f6d2654119ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_4.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_5.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c8ff42c508a40b79081dd18d2091de7b37233b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_5.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_6.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a51c2df835073f68c2bf856b4c9758ed048686
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_6.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_7.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4be2ccc83f21b7adc5c57add2bef70c9323bf865
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_7.obj
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_8.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e35d21a3e7d87dcab9e0cd987a86210683f80043
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_8.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_9.obj b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cf587a326c755c7aa1ae1a9a0141a21ed2e64bb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/mesh/photo_frame_022_collision_9.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/photo_frame_022.xml b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/photo_frame_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0533232fcab5ab9fe177402de9ee0934932e7b72
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/mjcf/photo_frame_022.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_022">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.urdf b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c5ee8da90b27e01ea4e40ae9109bf23a72a1025
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_022">
+   <link name="photo_frame_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>48c73f54bb765e8f8039a55ff031fb4c</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wooden frame</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>square dark wooden photo frame with white mat</description>
+         <min_height>0.0464</min_height>
+         <max_height>0.0464</max_height>
+         <real_height>0.0464</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201744</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.134617 -0.151636 -0.018651</min>
+            <max>0.134579 0.148364 0.027702</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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..35247d85ea49b5d0bb58056d306cd81ae7877cae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/photo_frame_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c807e3ba9fd44bf6dad16ec25858c93803833ec8f593e0fcd66785cdda4a293
+size 37834765
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/textures/material_0.png b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41c7c81ec25fca9d976c8b265c0e09fafc381148
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f62a09bee03859ae11d5b035cb2802dbbb9bd5176d6ae9e60cb6bfcfe2e45b4
+size 3832076
diff --git a/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/video.mp4 b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f821b5499c2794ae06e599872b0a961a9b499a26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/48c73f54bb765e8f8039a55ff031fb4c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adfd3661fe0e070dc55378b5f86124a1b8f25fb7a142c76d9e6af0a63f11d221
+size 430175