diff --git a/.gitattributes b/.gitattributes
index f7e48bddccb321bf6f965917fcedd3ef79361444..8351e03af7dece1cbf6e11be9fcd43087f73fffc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5020,3 +5020,5 @@ dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/mesh/phot
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/mesh/photo_frame_016.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/mjcf/mesh/photo_frame_016.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/photo_frame_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99cbc19aee4d6739c6eec065d4d7cb9c7d350d8a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_008_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
+map_Kd photo_frame_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..658da6d00b17075ae4e6cb48fda92d3070618cbe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/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/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.glb b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef780b23ddaede5018d977edad39da35ac22fc5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13003380
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.mtl b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2129a4a1f881ff095ce289968ea974c899a2158c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_008_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/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a945e2b7692e07a103aaca6e8357c8b23fbb599a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.obj
@@ -0,0 +1,109480 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl photo_frame_008_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008_collision.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0683f0fd0de1a5ad9f7f1af34a805201a1aeefa7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008_collision.obj
@@ -0,0 +1,7136 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4619071a2baf8d38274a3e86be7a6f1ee68012
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision.obj
@@ -0,0 +1,7136 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_0.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba31ac08a2d011ad9c4fa9d54af1a338904f6de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_1.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953eca64d616301687366fd5c66fd49653be5948
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_10.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5755dd3868ba6139217e168caad00fe877388c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_10.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_11.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a012beebd30dd8407fd048b547e985beb55c5482
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_11.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_12.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f99a2192539adf988b55020b1e510b2c70b79cc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_12.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_13.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b183d42101488f4c82e08e038c6a5be5b596c843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_13.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_14.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7966868976f4dc67df20481ef5b41b50aa932057
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_14.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_15.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30dc4bd556ef30a8f18de5d0025d51c8c3f3ad0c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_16.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..404907e82cf0f5ed1a506ac9bd3ced4746bd35b1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_16.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_17.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1937df07af7bc708591bc5722ce801b4cc8e20
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_17.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_18.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca961f049dff7bdc574b78c0c8c898c1ff0c82c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_18.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_19.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93eb7491775844b493063b4ae1cabdfa53e2a4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_2.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fff61183a35e4626df65c6a2f2697ab4374965
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_2.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_20.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1706234e3164b23f02a542305de70122ae1a265a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_20.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_21.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a5a98a3b818405a66275e46b6b888dc7a0cdfa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_21.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_22.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e75f14e58cd93515c4a1bf4c78f2ced92958719
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_22.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_23.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681f98438d62cc19520ea305b92a81faede48ccc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_23.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_3.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca13d0a4ca41867035e70fd7865b9346b78c2fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_3.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_4.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a947bd8bd96d51ed69dce54166fce28f1e3167e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_4.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_5.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c53c6b98e51d69898ee72cad6dd1225e1222ec5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_5.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00463471 -0.01044756 0.11387274
+v -0.01181120 0.00253729 0.11261004
+v -0.01181995 -0.01044755 0.11260999
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+v -0.00463471 -0.03607531 0.11386222
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+v -0.01178745 0.04150891 0.11260496
+v -0.01372343 0.04475726 0.11210404
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+v -0.00463471 -0.03607511 0.06057615
+v -0.00463471 0.04475725 0.11386251
+v -0.01178245 0.04475726 0.11260497
+v -0.01176996 0.04800561 0.11260499
+v -0.01372343 0.05125395 0.11209364
+v -0.01634681 0.05125395 0.11052303
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+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_6.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9eb29b51970df9236957945266b1e7106d0ff0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_6.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01399499 -0.03641545 -0.01542340
+v 0.01387766 -0.01063464 -0.01542331
+v 0.02338935 -0.03641545 -0.01542340
+v 0.00674348 -0.03641552 0.00356222
+v 0.02294448 -0.01063464 -0.01542331
+v 0.00674348 -0.01500596 0.00369492
+v 0.00674348 -0.01370367 0.00370819
+v 0.00674348 -0.01063471 0.00378778
+v 0.01492220 -0.03641558 0.01949078
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+v 0.00845614 -0.03641568 0.04565818
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+f 5 12 9
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+f 11 14 12
+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_7.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc37332922ce13e39bc32f0603d2ec761c92c43
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_7.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00674185 0.01096623 0.02228680
+v 0.00674185 0.01096623 0.02190865
+v 0.00442116 0.01096623 0.02228680
+v 0.00674185 -0.07323570 0.02228649
+v 0.00674185 0.01095754 0.00392043
+v 0.00674121 0.01096630 0.00392043
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+v 0.00674185 -0.07726491 0.01915606
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+v 0.00011018 0.00903048 0.01476168
+v 0.00016860 -0.06566775 0.01624495
+v 0.00051719 -0.06566776 0.01863025
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+v 0.00119620 -0.06623712 0.02228652
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+v 0.00656918 -0.07744010 0.01877118
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+v 0.00674185 0.00578087 0.00344604
+v 0.00011018 0.00500131 -0.00011177
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+v 0.00063923 -0.06891740 0.01393348
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+
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_8.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f488b309a48346c486ce0dc9e56461546a394fa6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00463471 0.00906571 0.00922942
+v -0.00463471 0.01169657 0.00913058
+v -0.00578699 0.01092071 0.00824570
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_9.obj b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741121372c0f9931771bdf6a5107e73c0fe10366
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/mesh/photo_frame_008_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/photo_frame_008.xml b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/photo_frame_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..333d5989c6db8276f10754342f67dbc995502ec6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mjcf/photo_frame_008.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_008">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" 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/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.urdf b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cda43835274a236f43c87317b4e003ded01c8be3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_008">
+   <link name="photo_frame_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <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>cb6c6fb3b09150e98d06f61b8901ac54</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>gray photo frame</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular gray photo frame with scenic image and rear stand support</description>
+         <min_height>0.1980</min_height>
+         <max_height>0.1980</max_height>
+         <real_height>0.1980</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204200</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.usd b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.usd
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+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf12dd1417451a28f7dbcb7cd6d380d406af914c42e058b255c2faae3fb87a4
+size 4628879
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/textures/material_0.png b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10116990
diff --git a/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/video.mp4 b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa6249528abf96189473419611ddf6a5668af1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7095cbdbf02363f01f4165ca386c890f734ee6160d6d76debbfa6e8da8346c58
+size 282110