diff --git a/.gitattributes b/.gitattributes
index be21f1987b5c105f4eac82be39e7ce650391ca4f..21d3c7b2275e156541047b6e573c613d7d694819 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4960,3 +4960,5 @@ dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/candle_ho
 dataset/livingroom_supplies/ornaments/7db50e4b7b805d92aa356d4bf49aa1fc/mesh/candle_holder_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/848ba50856fc5fa6bffb74386d5d0593/848ba50856fc5fa6bffb74386d5d0593.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/8d0365b3bac45ca7b0a5c7b44958af1e/8d0365b3bac45ca7b0a5c7b44958af1e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0080eab529dbb187715bc578b39c2e800038cbaa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_033_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.glb b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.glb
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.mtl b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0cc91a1cf622433cf9a9ae6d1755e99f206d3649
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.mtl
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+newmtl photo_frame_033_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
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f5cdd7d8e8e0df5a81658203a498d909957709
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033.obj
@@ -0,0 +1,112346 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033_collision.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f15b3248d67beae8d40a524aff5742aa95bb40
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mesh/photo_frame_033_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..124aff1c9458a5f56896bf53a7ee3b239f6e79e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision.obj
@@ -0,0 +1,7410 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_0.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d99cad51f8ef99ac13b93241fe67a38bec2f73
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_0.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_1.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713c6ce348540845696178ee8c7901e5fb2b0e00
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_1.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_10.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f87d83d42cecc9b6bf5ff33003af06f073627c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_10.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_11.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e699ebcd3106987837b889358a0398bd0676c97
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_11.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_12.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a762f4a723161da73d041de9c390d7ea60b53ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_12.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_13.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e5b2352fde85ec4d8888208e706c065e733096
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_14.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e67d75f4fec54f894739bf371be8859c19453fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_14.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_15.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1f542a57cc1549a21c1fae1bf05436bb3d8c31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_15.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_16.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcdc07fb62a4b0cbf282f0628acb19e7f24585f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00014955 0.00863800 -0.01330305
+v -0.00014955 0.00863806 -0.02866170
+v -0.00840127 0.00863800 -0.01330305
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+
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_17.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc52d49a1febd6dbee891c03875b31e457ef664
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v -0.00014694 -0.03550095 -0.02532142
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+
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_18.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75ee3a463de82aba0f9d1477597a7f30bf581fb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.00100889 0.02560161 -0.03384746
+v -0.00106452 0.02899102 -0.03384744
+v -0.00100889 0.02552463 -0.03384746
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_19.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e688583540d07e6930575c02049d8ea5da3ece20
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_19.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_2.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff62044141196b6be51e82494e3fa1ceacbe1e0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_2.obj
@@ -0,0 +1,694 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_20.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919f811d50d0dfece9051c8c2f2fe083500c0d46
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_20.obj
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_21.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a0ce4c1baaca9d2a57142263d42afca018d0ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_3.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedf9f9fd4830467be3d55c84dec7d0b804afa9e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_3.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_4.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574db46e9b8576d9b54b521b8e14e43b41acaeeb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_4.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_5.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5403fe44110582bbba489e15838c00fd8a5276a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_5.obj
@@ -0,0 +1,802 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_6.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f45e97341e4d1e7bde20516a372bf2f8b4cd3a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_7.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18d3f112444b7c6abb0c8b1ae32f6c720e8adb6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_7.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_8.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aea6b60507ea7d29c288c2ff6cb9b2c601fce3d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_8.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_9.obj b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52837328b8f35919d65fd1ad74333fabdbd000cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/mesh/photo_frame_033_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/photo_frame_033.xml b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/photo_frame_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a7bbe8b3ff0d4d25d5dde75d7496e30b336c7ca2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/mjcf/photo_frame_033.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_033_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_033_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_033_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_033_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_033_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_033">
+      <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/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.urdf b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..539f73446ba74ecddfdc84e26bea41a8bf0341eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_033">
+   <link name="photo_frame_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>85fdfcfb84f85e2c8d4f68ed9093683f</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>digital photo frame</name>
+         <color>black</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>black digital photo frame with rear stand and rectangular screen</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.7</min_mass>
+         <max_mass>1.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203201</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053654 -0.102838 -0.108534</min>
+            <max>0.053145 0.103188 0.091466</max>
+         </aabb>
+         <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/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.usd b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c7e98774e8dbd6423b489a568b6651835567bf08
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/photo_frame_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a13912f07aeebca3d7fb573e642a7f715c441f51bcecc58926b1cbbdf122c99
+size 4677783
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/textures/material_0.png b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8447771
diff --git a/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/video.mp4 b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b6c44550924148586ad0cb094e339c362058660
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/85fdfcfb84f85e2c8d4f68ed9093683f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53de3aaadbf2f59a9f50182d371ebc492d89b3723f929ec8420899f3f513767a
+size 226147