diff --git a/.gitattributes b/.gitattributes
index 21d3c7b2275e156541047b6e573c613d7d694819..f7a67a1fa256265a84f0b0a2fd7d6c328701f113 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4960,5 +4960,7 @@ 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
+dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e03c82276ece877fb5a2b71920b881f7e48749b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_029_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..23758d7ad764ba6041d059f96ea5e69f59830071
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1345e23ced7155eeb3e71cf826c03c785320c626f156762752270d5bc56c8622
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.glb b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4efc5cf770760261088c58951e716feddcdaabbc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 38250860
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.mtl b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9f88879132f2d3571d659937e8a18c29f4edaf39
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8670641f7cd33fd6538db5861e9e0f86b7c3922
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029_collision.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d02d988ecf3e0eede0e087ac6bbd3b62d1597ae
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mesh/photo_frame_029_collision.obj
@@ -0,0 +1,5257 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_0.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c24efa9e93294a0ba5881fb3284b52ffee3f32c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_0.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_1.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24be48f485bfde56b678ea8df0142a222b0bc0d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_1.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_10.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9aeddf2ef556b2eb9c80e948b0e83d074a42bc1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_11.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a930c4be214adf5bc7b53b0e72ca02748dfa823b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_11.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_12.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a642eedcff12f2ddfafce4ce511994024b9fe18c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_12.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_13.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b725dc3b3b46b655eaece25148a40f24f5597399
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_13.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_14.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1551c3551d671c4bcd501673ca8b315b23db11
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_15.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955cc27305298a0188195607f46d9c12bda07b0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_15.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_16.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28bdc9a7ceb51c1d07f88d82541f7777ef2f587a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_17.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2771aba1f275feb639877e761ed6dc800b5919ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_17.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_18.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f89d99f5c65de4d6bc342b2af8053eafb22a915
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_19.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ced510a764e3174844fc6fd06a08b0fd109360
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_19.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_2.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a9285a0e21e214c1f21f0b6f5182381d23b7bd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_2.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_3.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79910a6858f726353ce3c2675d1506ab8615f3f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_3.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_4.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca182bb443f067009e477135492539ba1665aa2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_4.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_5.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f137815ae4e7b9ed9b2fc36116b4ca923bfc1093
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_5.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_6.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ddd93a063d19e0114b8a6d42642aae64202dc0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_6.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_7.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a8b693fe11c8f4d204b2abbf31071a3cafebeb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_7.obj
@@ -0,0 +1,166 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_8.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fc2d53d7a302ea9c29e12fe912ce4081fd3c7e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_8.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_9.obj b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..124e4901a01da6667484fcee1ee4d9696e38efc3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/mesh/photo_frame_029_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/photo_frame_029.xml b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/photo_frame_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9b530f4f833a81551259f71a98c5a9c577521993
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/mjcf/photo_frame_029.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_029_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_029_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_029_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_029_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_029_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_029_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_029_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_029_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_029">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.urdf b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf95f5b73f756a2afdb53930da1aaab1a4e052c5
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+++ b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_029">
+   <link name="photo_frame_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <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>7cfc2470f8cc53e683119180641726f7</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>ornate frame</name>
+         <color>black,golden</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>ornate square black frame with gold floral decorations and portrait</description>
+         <min_height>0.0298</min_height>
+         <max_height>0.0298</max_height>
+         <real_height>0.0298</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518202247</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.140925 -0.148404 -0.007073</min>
+            <max>0.140718 0.151596 0.022733</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.usd b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/photo_frame_029.usd
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diff --git a/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/textures/material_0.png b/dataset/livingroom_supplies/ornaments/7cfc2470f8cc53e683119180641726f7/textures/material_0.png
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