diff --git a/.gitattributes b/.gitattributes
index 150c4de3e9fa4285407bd84ac9b9cb7fdc38a21e..877774539ce4c393836108cf33c2d176d8823902 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4987,3 +4987,5 @@ dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/aa7000470
 dataset/livingroom_supplies/ornaments/b370ca6a6b1658bd959d46c7d90df1e8/b370ca6a6b1658bd959d46c7d90df1e8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/diffuser_bottle_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/b0faf2a46456543c94cebd5dc67d7bee/mesh/diffuser_bottle_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db743a2808d26e27f3dc91b8d3482acdfd954c3a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_005_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/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/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.glb b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.glb
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.glb
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.mtl b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b21c3f39590ba1bbc7d2a5a38bc7b000111c2dc9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.mtl
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+newmtl photo_frame_005_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94704f5552f00e52b487ffe58751131489fec50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005_collision.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8ca437a48229e72d529c473b4b5334cfc62f236
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005_collision.obj
@@ -0,0 +1,8566 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mesh/photo_frame_005_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7285475a075a5589b0c7923843ff0c611f06a7f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision.obj
@@ -0,0 +1,8566 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_0.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5be13d17f8b1eddd86c5582d7cb279f8b7bbcb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_1.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1775816874b2cc95f6298a19b09c259502fd55e6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_10.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3114eb15690cf469578352a5a282c4b238f4bab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_10.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_11.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34ac85dd4dae80e4e333c70c7da821d19a1367f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_11.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_12.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54989acd7df7616e1ce135c70517137bbfa24d74
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_13.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1658f1abcc743af523647719a086e8d906adbb82
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_13.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_14.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093d1fcb6bbb04fbbcf9b0bea8a1c58f0b5d2dff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_14.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_15.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abdd5d48e1117b5a8bff3052260f6e74f799ee0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_16.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..892456d3842d09c452c2654497f0031bcd77880b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_16.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_17.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fd8acbda73a9eb18dbb36f62f1b6d03f7e5633
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_17.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_18.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e558d856451ce65b8d74ca278853b6b7b1a6611
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_18.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_19.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7a82d39955f3dd3e12c0682f5d2132508c6425b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_19.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_2.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..823f47975643f18d26436caedc7d7ab23c261f0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_2.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_20.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5678777ea25d4cf62d00e464945ab287166cd098
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_20.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_21.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0707c9a0b0ebc65b9c4a6ed37500e60a20132fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_21.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_22.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3dcf6e00d64f226aa42cb00772c7431928f521
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_22.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_23.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522f7f472f0c46de89ea4ea7c77d7f1efb48904b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_23.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_24.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ee3a491e11ae7022993f189964ae50b197058c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_24.obj
@@ -0,0 +1,391 @@
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+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_25.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf113580d12dfc49a0cd2699d5a6689e5c83739d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_25.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00683973 0.07589985 0.02727372
+v -0.01307446 0.07589985 0.02727372
+v -0.00683973 0.06579778 0.02727368
+v -0.00683973 0.07589995 -0.00001069
+v -0.01289164 0.06471850 0.02726300
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+v -0.01836560 0.07589990 0.01271812
+v -0.00683973 0.06471850 0.02726834
+v -0.00683973 0.06471859 0.00183209
+v -0.01445917 0.07589994 0.00296720
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+v -0.01852365 0.07589991 0.01168721
+v -0.01652090 0.06471858 0.00659671
+v -0.01568465 0.07589994 0.00356278
+v -0.01888811 0.07589992 0.00908589
+v -0.01814150 0.06471857 0.00908585
+v -0.01716135 0.06471857 0.00757955
+v -0.01791504 0.07589993 0.00546970
+v -0.01579316 0.07589994 0.00361619
+f 1 2 6
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+f 1 14 19
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+f 1 18 15
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+f 13 19 14
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_26.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56ada27a87a573a84e9d0b30f2291c1c7502774
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_26.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00105840 0.00928986 -0.02889183
+v 0.00105840 0.03776333 -0.02889172
+v 0.00856095 0.00928986 -0.02889183
+v -0.00115726 0.00928983 -0.02155779
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+v -0.00115236 0.03776330 -0.02154119
+v -0.00113277 0.03776330 -0.02160716
+v -0.00810957 0.01003406 0.00173630
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+v -0.00810957 0.00993640 0.02727348
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+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_27.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3323b3f493b70859100617417663ef2ed9bffe59
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_27.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00007505 -0.03959903 0.01291131
+v -0.00090258 -0.03959899 0.00365036
+v -0.00018069 -0.03959904 0.01517972
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+v -0.00922477 -0.03959899 0.00365036
+v 0.00329960 -0.04974980 0.02727326
+v 0.00263347 -0.04321795 0.01499241
+v -0.00522214 -0.03959908 0.02727329
+v 0.00972025 -0.05083275 0.00426309
+v 0.01027780 -0.05290756 0.00365032
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+v -0.01651402 -0.06412931 0.00659851
+v -0.01651696 -0.05284753 0.00659625
+v -0.01651696 -0.04922141 0.00659626
+v -0.01651696 -0.04196198 0.00659860
+v -0.01651696 -0.03959900 0.00660091
+v 0.00459958 -0.05284761 0.02727325
+v 0.00596118 -0.05109456 0.02172825
+v -0.01343869 -0.03959908 0.02727329
+v 0.00942387 -0.05184374 0.00668412
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+v -0.00755798 -0.06412930 0.00365027
+v -0.01813386 -0.06412932 0.00908428
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+v -0.01813386 -0.03959901 0.00908437
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+v -0.01329783 -0.04922149 0.02727326
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+f 29 40 31
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+f 35 43 36
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_28.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0f9182420ad20553a00ad5139829d3ec426041
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01882832 0.06471608 -0.02889162
+v 0.01870438 0.05602560 -0.02889165
+v 0.00124947 0.06471608 -0.02889162
+v 0.01334844 0.06471597 0.00088984
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+v 0.01167389 0.06471594 0.00908153
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+v 0.00113607 0.05239534 -0.02889167
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+v -0.00810693 0.03788208 0.00201679
+v -0.00810693 0.04525869 0.00236318
+v -0.00810693 0.06471595 0.00455136
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+v 0.00595931 0.05065125 0.02170438
+v 0.01754933 0.05086778 -0.02889167
+v 0.00949038 0.06471590 0.01810888
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+v -0.00051475 0.04150981 -0.02361934
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+v -0.00810693 0.03776600 0.00201679
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+v 0.00751256 0.03776606 -0.01271726
+v 0.01718277 0.04997341 -0.02889168
+v 0.00460121 0.05239513 0.02727363
+v 0.00459594 0.05238194 0.02727363
+v 0.00330112 0.04933473 0.02727362
+v 0.00237814 0.04331159 0.01817478
+v 0.00932160 0.06471590 0.01863667
+v 0.00521829 0.05602539 0.02727365
+v 0.00108333 0.04514009 -0.02889169
+v 0.00106751 0.04150983 -0.02889171
+v -0.00049365 0.03776610 -0.02373480
+v -0.00115292 0.03776609 -0.02154119
+v -0.00810693 0.03776591 0.02727358
+v -0.00810693 0.06387162 0.02727367
+v -0.00099470 0.06471587 0.02727368
+v 0.00800570 0.03776607 -0.01635129
+v -0.00514548 0.03776591 0.02714163
+v 0.00855685 0.03776612 -0.02889172
+v -0.00519031 0.03776591 0.02727358
+v 0.00547409 0.06471587 0.02727368
+v 0.00106487 0.03987673 -0.02889171
+v 0.00106223 0.03788220 -0.02889172
+v 0.00106223 0.03776612 -0.02889172
+f 1 2 6
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+f 1 16 24
+f 1 24 40
+f 1 40 45
+f 1 45 44
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+f 1 43 32
+f 1 32 31
+f 1 31 18
+f 1 18 9
+f 1 9 3
+f 1 3 13
+f 1 13 22
+f 1 22 37
+f 1 37 42
+f 1 42 29
+f 1 29 17
+f 1 17 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
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+f 2 8 5
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+f 5 14 6
+f 5 8 15
+f 5 15 14
+f 6 14 16
+f 8 17 15
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 11 21 35
+f 11 35 36
+f 11 36 22
+f 11 22 13
+f 11 13 12
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+f 11 34 21
+f 14 23 24
+f 14 24 16
+f 14 15 23
+f 15 17 25
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+f 17 30 25
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+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 21 34 33
+f 21 33 45
+f 21 45 40
+f 21 40 38
+f 21 38 23
+f 21 23 39
+f 21 39 41
+f 21 41 35
+f 22 36 37
+f 23 38 24
+f 23 28 39
+f 24 38 40
+f 25 30 42
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+f 25 37 36
+f 25 36 35
+f 25 35 41
+f 25 41 27
+f 25 27 26
+f 27 41 28
+f 28 41 39
+f 29 42 30
+f 32 43 33
+f 33 43 44
+f 33 44 45
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_29.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7676bce6aec9fa6d323c07b006b1146fdbaece28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00578154 0.00928687 0.02727347
+v -0.00167627 0.00928692 0.01251376
+v -0.00674761 0.00928687 0.02727347
+v -0.00556709 0.00158780 0.02727345
+v 0.00272923 -0.00930281 0.01514978
+v 0.00263732 -0.00673805 0.01499717
+v -0.00048963 0.00928696 0.00365054
+v -0.00109827 0.00820552 0.01115641
+v -0.01344879 0.00928687 0.02726885
+v -0.01344879 0.00886579 0.02727347
+v -0.00541186 -0.00930285 0.02727341
+v 0.00272923 -0.00930280 0.01398435
+v -0.00523417 -0.02763897 0.02727334
+v -0.00520558 -0.03084492 0.02727333
+v -0.00522396 -0.03959668 0.02727329
+v 0.00238611 -0.02946679 0.01456699
+v 0.00263732 -0.00673804 0.01412773
+v -0.00930880 0.00928696 0.00365054
+v -0.00004642 -0.00204392 0.00365050
+v -0.01784613 0.00928692 0.01271956
+v -0.01345492 0.00160694 0.02727345
+v 0.00008021 -0.00930276 0.00365048
+v 0.00238611 -0.02946679 0.01450687
+v 0.00245963 -0.02223187 0.01403518
+v -0.01343858 -0.03959668 0.02727329
+v -0.00018122 -0.03959664 0.01517972
+v -0.00007501 -0.03959663 0.01291131
+v -0.01651447 0.00928695 0.00660109
+v -0.00933331 -0.00081896 0.00365051
+v -0.01813615 0.00928694 0.00908455
+v -0.01784817 0.00158785 0.01271954
+v -0.01345901 -0.00565190 0.02727342
+v -0.01345696 -0.00202009 0.02727343
+v -0.00046716 -0.02744269 0.00365041
+v -0.00090219 -0.03959659 0.00365036
+v -0.01784409 -0.03959663 0.01271938
+v -0.01344267 -0.03832866 0.02727330
+v -0.00933536 -0.00204392 0.00365050
+v -0.00933740 -0.00444599 0.00365049
+v -0.01651651 -0.02381089 0.00660097
+v -0.01651651 -0.03959660 0.00660091
+v -0.01813411 -0.03959661 0.00908437
+v -0.01345901 -0.00567104 0.02727342
+v -0.01784613 -0.03470158 0.01271940
+v -0.00922507 -0.03959659 0.00365036
+v -0.01794621 -0.03959662 0.01145222
+v -0.01345288 -0.02744278 0.02727334
+v -0.00933740 -0.00567095 0.00365049
+v -0.00930880 -0.02744269 0.00365041
+v -0.00929859 -0.03106972 0.00365040
+v -0.00926387 -0.03832857 0.00365037
+v -0.01345696 -0.01292988 0.02727339
+f 1 2 7
+f 1 7 18
+f 1 18 28
+f 1 28 30
+f 1 30 20
+f 1 20 9
+f 1 9 3
+f 1 3 10
+f 1 10 21
+f 1 21 33
+f 1 33 32
+f 1 32 43
+f 1 43 52
+f 1 52 47
+f 1 47 37
+f 1 37 25
+f 1 25 15
+f 1 15 14
+f 1 14 13
+f 1 13 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 5
+f 5 12 17
+f 5 17 6
+f 5 11 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 23
+f 5 23 12
+f 6 17 7
+f 6 7 8
+f 7 17 12
+f 7 12 19
+f 7 19 22
+f 7 22 34
+f 7 34 35
+f 7 35 45
+f 7 45 51
+f 7 51 50
+f 7 50 49
+f 7 49 48
+f 7 48 39
+f 7 39 38
+f 7 38 29
+f 7 29 18
+f 9 20 10
+f 10 20 21
+f 12 22 19
+f 12 23 24
+f 12 24 22
+f 15 25 36
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+f 15 42 41
+f 15 41 45
+f 15 45 35
+f 15 35 27
+f 15 27 26
+f 15 26 16
+f 16 26 27
+f 16 27 23
+f 18 29 28
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 22 24 23
+f 22 23 34
+f 23 27 35
+f 23 35 34
+f 25 37 36
+f 28 29 38
+f 28 38 39
+f 28 39 40
+f 28 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 43 32
+f 31 42 44
+f 31 44 43
+f 36 44 46
+f 36 37 47
+f 36 47 44
+f 39 48 41
+f 39 41 40
+f 41 49 50
+f 41 50 51
+f 41 51 45
+f 41 48 49
+f 42 46 44
+f 43 44 52
+f 44 47 52
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_3.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c387656b1f44b4817144d2d920d80f5757a32c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_3.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02825863 -0.07461928 -0.05006381
+v -0.02946921 -0.07230796 -0.05067865
+v -0.03045105 -0.07230796 -0.05067865
+v -0.03074203 -0.07461928 -0.05017074
+v -0.02818705 -0.07461928 -0.05010582
+v -0.03258591 0.00408870 -0.07507704
+v -0.03544742 0.00408869 -0.07398485
+v -0.03099721 -0.07461928 -0.05018220
+v -0.02585147 -0.07461927 -0.05273702
+v -0.02706828 -0.07334035 -0.05167537
+v -0.03189970 0.00408871 -0.07812831
+v -0.02583280 -0.07461927 -0.05275993
+v -0.02582035 -0.07461927 -0.05280958
+v -0.03622854 0.00408869 -0.07431327
+v -0.03354130 -0.06621380 -0.05464260
+v -0.03367823 -0.06863297 -0.05445548
+v -0.03279908 -0.07461927 -0.05254989
+v -0.03795416 0.00408870 -0.07521834
+v -0.03271506 0.00408872 -0.08176005
+v -0.02602419 -0.07461926 -0.05546368
+v -0.03368756 -0.07099050 -0.05441348
+v -0.03830582 0.00408870 -0.07608523
+v -0.03908071 0.00408871 -0.07812831
+v -0.03368601 -0.07461926 -0.05436767
+v -0.03446402 0.00408875 -0.08907316
+v -0.02882969 -0.07461921 -0.06723340
+v -0.03414036 -0.07099049 -0.05632673
+v -0.04169482 0.00408875 -0.08907316
+v -0.03414192 -0.07461925 -0.05632674
+v -0.03328922 -0.07461915 -0.08535007
+v -0.03332190 -0.07461915 -0.08547991
+v -0.03424618 -0.07441111 -0.08907345
+v -0.04171660 -0.04196029 -0.08907333
+v -0.03498372 -0.07461924 -0.05996229
+v -0.03424618 -0.07461913 -0.08907345
+v -0.04171505 -0.04558905 -0.08907335
+v -0.04168081 -0.07461913 -0.08907345
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 24
+f 1 24 29
+f 1 29 34
+f 1 34 37
+f 1 37 35
+f 1 35 31
+f 1 31 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 12
+f 1 12 9
+f 1 9 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 5 9 10
+f 5 10 6
+f 6 11 19
+f 6 19 25
+f 6 25 28
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+f 6 22 18
+f 6 18 14
+f 6 14 7
+f 6 10 12
+f 6 12 13
+f 6 13 11
+f 7 14 8
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+f 8 14 18
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+f 11 20 19
+f 15 18 16
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+f 17 21 24
+f 19 20 26
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+f 21 27 24
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+f 24 27 29
+f 25 26 30
+f 25 30 31
+f 25 31 32
+f 25 32 35
+f 25 35 37
+f 25 37 36
+f 25 36 33
+f 25 33 28
+f 27 33 29
+f 27 28 33
+f 29 33 34
+f 31 35 32
+f 33 36 34
+f 34 36 37
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_30.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de847e18037962230a691c7015b13877caeff6bc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_30.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01867790 -0.05647723 -0.02889207
+v 0.01844166 -0.06412712 -0.02889210
+v 0.01842809 -0.05484223 -0.02889206
+v 0.01680970 -0.05436247 -0.02170254
+v 0.01184050 -0.06412724 0.00365027
+v 0.01226139 -0.06412724 0.00176130
+v 0.00125583 -0.06412712 -0.02889210
+v 0.01803978 -0.05267390 -0.02889205
+v 0.01667665 -0.05173287 -0.02362016
+v 0.01027914 -0.05291083 0.00365032
+v -0.00755568 -0.06412724 0.00365027
+v 0.00110105 -0.05085563 -0.02889205
+v 0.00080235 -0.06412713 -0.02725479
+v -0.00905730 -0.04309466 0.00365035
+v 0.01719257 -0.05039025 -0.02889205
+v 0.01677169 -0.05105540 -0.02546134
+v 0.01326338 -0.05090718 -0.01046433
+v 0.00977679 -0.05075074 0.00365032
+v -0.00095723 -0.06412715 -0.02079155
+v 0.00108747 -0.04922063 -0.02889204
+v -0.00019149 -0.06412714 -0.02362021
+v 0.00012622 -0.04309466 0.00365035
+v 0.00106303 -0.04309454 -0.02889202
+v 0.00106303 -0.04359698 -0.02889202
+v 0.00106846 -0.04559028 -0.02889203
+v 0.00107389 -0.04722528 -0.02889203
+v 0.01642683 -0.04967366 -0.02889204
+v 0.01444729 -0.04957074 -0.01998557
+v 0.00898932 -0.05001766 0.00365033
+v 0.00790858 -0.04913633 0.00365033
+v 0.00716999 -0.04309457 -0.02265813
+v 0.00879109 -0.04309454 -0.02889202
+f 1 2 7
+f 1 7 12
+f 1 12 20
+f 1 20 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 32
+f 1 32 27
+f 1 27 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
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+f 1 6 2
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+f 2 5 11
+f 2 11 19
+f 2 19 21
+f 2 21 13
+f 2 13 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 18
+f 5 18 29
+f 5 29 30
+f 5 30 22
+f 5 22 14
+f 5 14 11
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+f 7 14 12
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
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+f 12 14 20
+f 13 21 14
+f 14 22 31
+f 14 31 32
+f 14 32 23
+f 14 23 24
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+f 14 25 26
+f 14 26 20
+f 14 21 19
+f 15 27 28
+f 15 28 17
+f 15 17 16
+f 17 28 18
+f 18 28 29
+f 22 30 31
+f 27 32 28
+f 28 32 29
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_31.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42e9e2574b3e58fc71fba46a47c4319a4c5a33a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_31.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00685134 -0.07654760 -0.00004859
+v -0.01729803 -0.07654761 0.00201872
+v -0.00685134 -0.06412930 0.00185295
+v -0.00685134 -0.07654770 0.02727316
+v -0.01845390 -0.07654762 0.00562115
+v -0.01813467 -0.06412932 0.00908455
+v -0.01795903 -0.06412932 0.00881444
+v -0.01651480 -0.06412931 0.00660003
+v -0.00685134 -0.06412939 0.02727320
+v -0.01131459 -0.07654770 0.02727316
+v -0.01897487 -0.07654763 0.00908451
+v -0.01787122 -0.06412934 0.01232593
+v -0.01288818 -0.06412939 0.02727320
+v -0.01311247 -0.07654770 0.02726247
+v -0.01287750 -0.07462345 0.02727317
+v -0.01842779 -0.07654765 0.01271903
+v -0.01783918 -0.06412934 0.01271907
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 13
+f 3 13 9
+f 4 9 13
+f 4 13 15
+f 4 15 10
+f 5 11 6
+f 6 11 12
+f 10 15 14
+f 11 16 17
+f 11 17 12
+f 13 17 16
+f 13 16 14
+f 13 14 15
+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_32.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0fe39a5915f2ab49203c4e819f2c2a325a4392
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.00048826 0.00928696 0.00365054
+v 0.00860616 0.00158596 -0.01635081
+v 0.00027382 0.00928696 0.00181573
+v -0.00931051 0.00928696 0.00365054
+v -0.00004307 -0.00204417 0.00365050
+v 0.00963069 0.00009909 -0.02154626
+v 0.00923410 0.00141677 -0.02019562
+v 0.00856145 0.00928708 -0.02889183
+v 0.00817846 0.00521603 -0.01998537
+v 0.00727252 0.00549802 -0.01612782
+v 0.00676317 0.00447257 -0.01347117
+v 0.00008135 -0.00929917 0.00365048
+v 0.00739305 -0.02018418 -0.01271950
+v 0.00961125 -0.01829222 -0.01805191
+v 0.00661348 0.00928705 -0.02051096
+v 0.00105923 0.00928708 -0.02889183
+v 0.00105728 0.00884614 -0.02889183
+v 0.00103201 0.00158601 -0.02889185
+v -0.00933579 -0.00204417 0.00365050
+v 0.01045499 -0.01655919 -0.02725461
+v 0.01026058 -0.00929906 -0.02725458
+v 0.01032473 -0.00929905 -0.02889189
+v 0.01010311 -0.00567413 -0.02725457
+v 0.01011866 -0.00567412 -0.02889188
+v 0.00963069 0.00009909 -0.02250507
+v 0.00920300 0.00341642 -0.02889185
+v 0.00012607 -0.04309260 0.00365035
+v 0.00957626 -0.03293040 -0.01816663
+v 0.00958209 -0.03106922 -0.01813795
+v 0.00902803 -0.02008162 -0.01664713
+v 0.00961125 -0.01880494 -0.01805191
+v 0.01048803 -0.02018413 -0.02725462
+v 0.00102423 -0.00204405 -0.02889187
+v -0.00933773 -0.00567424 0.00365049
+v 0.01048026 -0.01492360 -0.02889191
+v 0.01052303 -0.01854854 -0.02889193
+v 0.01050359 -0.01655918 -0.02889192
+v 0.00949072 0.00075027 -0.02889186
+v -0.00905973 -0.04309260 0.00365035
+v 0.00717143 -0.04309251 -0.02265813
+v 0.00972012 -0.03669888 -0.02075958
+v 0.00952377 -0.03535044 -0.01833866
+v 0.00974539 -0.03436601 -0.01972432
+v 0.01030723 -0.02744425 -0.02725465
+v 0.01038305 -0.02580866 -0.02889195
+v 0.01051720 -0.02018412 -0.02889193
+v 0.00102229 -0.00567412 -0.02889188
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_33.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2571bdafde8fa21f8bee898046f904fa31915ce0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_34.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42cb78508a48652c88b3a004e71f58593e1f588f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_34.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_4.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f660f477ca9d905b16c24b7bc86d0075f9d450d8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_4.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_5.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03e0403470bdbc2cf5ccfcf53860c77ef73bef7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_5.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_6.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f8694c7a50efda6035b78921c4bea0f461349a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_6.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00810957 0.06387205 0.02727367
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+v -0.01289907 0.06330233 0.02727367
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+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_7.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7221e57b88005167611ba21b297896a6b255de49
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_7.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01342305 0.04147664 0.02727359
+v -0.01342305 0.04151248 0.02727359
+v -0.00518965 0.04147664 0.02727359
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+
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_8.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fddef3e98fccd56e16848458786f1e6bbc769706
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_8.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
+v 0.02218230 0.08173362 -0.06621979
+v 0.02938476 0.08174488 -0.07449684
+v 0.02218230 0.08173737 -0.06722971
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_9.obj b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c8e42159edaa0b3ca64241b10fa86a22e642957
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/mesh/photo_frame_005_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/photo_frame_005.xml b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/photo_frame_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5b94ae80b83aecdd35744435eb38bd5126a10cb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/mjcf/photo_frame_005.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_005_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/photo_frame_005_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/photo_frame_005_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/photo_frame_005_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/photo_frame_005_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_005">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" 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/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.urdf b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e28e9211e8a438e271417fcf0ad17a4fd70d4c1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_005">
+   <link name="photo_frame_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>b5082bc959d95d058e58eca08a4f0f85</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>ornate photo frame</name>
+         <color>brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>decorative photo frame with intricate patterns and a stand for support</description>
+         <min_height>0.2200</min_height>
+         <max_height>0.2200</max_height>
+         <real_height>0.2200</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204038</generate_time>
+         <gs_model>""</gs_model>
+      </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>NO: {"summary":"Frame is over-fragmented; decorative edges and front surface are split across multiple colors.","merge_groups":[{"colors":["Blue","Yellow","Maroon"],"target_part":"main frame body","reason":"Same frame structure split into front, side, and edge bands"},{"colors":["Brown","Yellow"],"target_part":"photo/display area","reason":"Inner image area is a nonfunctional fragment within front face"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.usd b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/photo_frame_005.usd
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/textures/material_0.png b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/video.mp4 b/dataset/livingroom_supplies/ornaments/b5082bc959d95d058e58eca08a4f0f85/video.mp4
new file mode 100644
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