diff --git a/.gitattributes b/.gitattributes
index 2a007bb0a25f6d07ba13caefc241d3d5f84c2010..0e2672608af1f2c177833f6902ca654bdca87882 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5025,7 +5025,7 @@ dataset/livingroom_supplies/ornaments/ccf497766c9557e8bdad8c5b63943379/mesh/cand
 dataset/livingroom_supplies/ornaments/d421bb4443645bc39bff8942d7525aa4/houseplant_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/d421bb4443645bc39bff8942d7525aa4/mesh/houseplant_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/d9111479bbcd5d0b86062d40972404fe/d9111479bbcd5d0b86062d40972404fe.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d5e71249795f51c69e5f31f04880fbc9/diffuser_bottle_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d5e71249795f51c69e5f31f04880fbc9/mesh/diffuser_bottle_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d5e71249795f51c69e5f31f04880fbc9/mesh/diffuser_bottle_015.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d5e71249795f51c69e5f31f04880fbc9/mjcf/mesh/diffuser_bottle_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f39c4ed8edb8894cc7fbae330acf1a46dd2e9ca
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_015_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd photo_frame_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0215b3800045dee4f4afd2a813ac5b4b899c7607
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382ad8f56960bc19c0522d72e60298527d2eded475652b20ff7468d84cd3ed56
+size 4127384
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.glb b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56eba0c84d7907f935609c32cce7378bc11f7298
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31616c34133607a251896282b5ba945fa39bff0c7c5e01898ed35db24730c6be
+size 21554556
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.mtl b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e022fe0378840d744ff9f1c9fadca41bee8f70db
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_015_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+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/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c74255110d824f84f64522aea0b3899bd2dd34a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1d8d79adaa3d3a7f14991a076d83dc6d383530137be969fe39488a0168d2b1
+size 38811811
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015_collision.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e1d66c0fbfcff8a4bbb7a5bae2d3cbb09ef8d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015_collision.obj
@@ -0,0 +1,5001 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mesh/photo_frame_015_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_0.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eadeecb8b2f018febb05bfc6a686c9c8f8278620
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_1.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a98b2d1cf649618f00387fa2816baed176776d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_10.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f7e23dd13f8ea22bfe4c006d7461c39f952c81
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_11.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488def6665b4308ea4d8a5c96aa3aeeb4c42c50c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_11.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_12.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace1744c799262bf8fbd298f90c2f48c89238c7e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_12.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_13.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5b6397b037899de67ff8784f9ed90774fe9ccea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_13.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.08110500 0.01298846 -0.02281798
+v 0.08124826 0.01298846 -0.02281460
+v 0.08128010 0.01298774 -0.02281460
+v 0.08128010 0.00567783 -0.01415539
+v 0.08124826 0.00567783 -0.01415539
+v -0.08134246 0.01298846 -0.02281122
+v 0.08128010 0.01298846 -0.02217919
+v 0.08128010 0.00567774 0.01171078
+v 0.00017576 0.00567783 -0.01334422
+v -0.08134246 0.00568856 -0.01397964
+v -0.08134246 0.01298838 0.00090536
+v 0.08128010 0.01298838 0.00091212
+v 0.00017576 0.00567774 0.01171078
+v 0.08128010 0.00887935 0.01171079
+v -0.08134246 0.00568847 0.01164319
+v -0.08134246 0.00882138 0.01171079
+v 0.08124826 0.00887935 0.01171079
+v -0.06153995 0.01298838 0.00091888
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+f 1 5 6
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+f 1 22 21
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+f 1 19 12
+f 1 12 7
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_14.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4d0c1a558244c9313cbc1c0ef32dfbaa3015d9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_14.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.11079749 0.01298846 -0.02297621
+v 0.11571961 0.01298846 -0.02267741
+v 0.12035462 0.00599447 -0.01688835
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_15.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc32bcf65721c2e64e965ec419294e73b20751f4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_15.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00246324 -0.03167202 -0.14428366
+v 0.00017404 -0.03167202 -0.14428156
+v 0.00017404 -0.03252304 -0.14417268
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+f 31 35 36
+f 31 36 32
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+f 33 38 34
+f 35 38 37
+f 35 37 36
+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_16.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4093002274a8627041b0c10f66c2635a70a85f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_16.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.12556858 -0.04478645 -0.09393335
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+v -0.12842708 -0.04223437 -0.06827726
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_17.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da4cc99d7cac26e8e459aef3df91778b6ca6c42
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_17.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_18.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a521ba1e1fd694c542861953b09ab927a597663
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_18.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_19.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30ee8386eb84e63ade5b6815e010c1af29894d3b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_2.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e07e72004850c55d65b4be2a7de614a421452a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_20.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83803de9436602d228ab6186cc443adc6d19a080
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_20.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_21.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d0c4941181ecb23a2f74d2455513f34c1b59ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_21.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_3.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248698e3b523770ba12d4977b0dd69eaa47dfd5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_3.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_4.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79cc3735dc69f48ce966e9cd8d4625902e9f6a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_4.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_5.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e6c5877ee3704d74330364c59e648c51c52841
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_5.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_6.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09471f38b427f08774bb620e8242502dd0b4f206
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_6.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_7.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bb90c20b9de013482a933dbc7bf1eb3a22f81c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_7.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_8.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77498d0d58bead8e11dd59d168fd50c3afcd0f4f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_8.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+v 0.11471162 -0.00346549 0.13098784
+v 0.11471162 0.02046511 0.10627871
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+v 0.11471162 -0.00636453 0.10627861
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+v 0.00025464 -0.00523298 0.11616859
+v 0.09602385 -0.00620927 0.10627861
+v 0.00025464 -0.00149184 0.10627862
+v 0.00025464 -0.00484184 0.11435458
+v 0.00025464 -0.00435815 0.11212455
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_9.obj b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58975607aece6a340c7b55df7dc6ec20cf50939b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/mesh/photo_frame_015_collision_9.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v -0.10849250 -0.00478865 0.10630583
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+v -0.10849250 -0.00353551 0.11649246
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+v -0.09601681 -0.00574874 0.11122620
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+v 0.00025464 -0.00523433 0.11616848
+v 0.00025464 -0.00126548 0.13118778
+v -0.10849250 -0.00422937 0.11122620
+v 0.00025464 -0.00149569 0.10630584
+v 0.00025464 -0.00435798 0.11212258
+v 0.00025464 -0.00484252 0.11435379
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+
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/photo_frame_015.xml b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/photo_frame_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b89e8a05ddd78d1c6a4337d16eac0a52718320fe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/mjcf/photo_frame_015.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_015">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.urdf b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a26112986af351248124c25ea2aff92bf534012c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_015">
+   <link name="photo_frame_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d5c47fa3b6e35f80882e2c73a7257827</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>tabletop frame</name>
+         <color>black,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular tabletop photo frame with rear support stand</description>
+         <min_height>0.3000</min_height>
+         <max_height>0.3000</max_height>
+         <real_height>0.3000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201247</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.133543 -0.048705 -0.144999</min>
+            <max>0.133546 0.082515 0.155001</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.usd b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/photo_frame_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51914d4bc8a9e67803c18a1fca7a93e230a4957f9335116f21a823fac0b4250a
+size 39337330
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/textures/material_0.png b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382ad8f56960bc19c0522d72e60298527d2eded475652b20ff7468d84cd3ed56
+size 4127384
diff --git a/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/video.mp4 b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b784cc0946052c5775bc9407fc1f5ae95fda606d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1ca0f3220bf185a645ff1f5edeac801a64188e5f3a0b7d1c28b64cbe911f04
+size 249763