diff --git a/.gitattributes b/.gitattributes
index 88d838978bf6f15dd6a5e0584d7e3d64f63c0cd3..b67c445e784fe356b2a2b2200d3a79d9693b027a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4954,5 +4954,7 @@ dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mesh/cand
 dataset/livingroom_supplies/ornaments/692ad7397e4558d3bea45a0aac854f9c/mjcf/mesh/candle_holder_022.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/houseplant_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/780767d373a153589d65c9ba262cb39e/mesh/houseplant_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/709ce227e8045d39a8c4541403ff906f/houseplant_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/709ce227e8045d39a8c4541403ff906f/mesh/houseplant_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2e1ecbbc4ed12d86db291489e5293965c418838
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..225feb67074a32c35660f880cf92b0e536431431
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/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/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..817bc19cc926fe0530f4507f41e990680b7739a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 30004688
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.mtl b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8cfbd86fc0b3fdc5ac24d7ec064e5389a366beb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.mtl
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+newmtl photo_frame_018_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640fb95d0a8dcffdbcf795429099ff664ddd0e14
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9ed894e776fa1bd4a4d59317dbcfb323c91466f49fa2075f9ff94378ad2d08
+size 39119881
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018_collision.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a3b882713b5e9d061db0d1ecc9ab8e390319ad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mesh/photo_frame_018_collision.obj
@@ -0,0 +1,10661 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_0.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145b64dcb406f32ff2ab0c5a182c1c172bd39751
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_1.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bb04267a9cb6fbd5fe4d4086f4ad7050a13e0e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_10.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bccbbabea6c232c356f31eac12178fa94c4839c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_11.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36f8a4ce32cd2a0a981c3dae46eb339f099b8be
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_11.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_12.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c07abb8cbf466582fa5f18c0311c96f678549f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_12.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_13.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b787cfd58453e88dd5c9f2a1911db7f8a6eff2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_13.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_14.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbff0936fc8537450f3b4511be38d336209a7879
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_14.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_15.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac7bab8769fda1e166134e87f13ed8211794ba6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_15.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_16.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7346c4453172d4406833efba13db9ab5cd8b9ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_16.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_17.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bce602094ccc2cd5e93621bcb2ab01cf7704cac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_17.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_18.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909445285ea0d67512a1ddd8359df8e5b2b60561
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_18.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_19.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c768e255965adeb2c6b628121180b4781a73371
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_19.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_2.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213158a99f5fada31bdd9198ca2c7aaf9796074a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_2.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_20.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df47adce815a4acfdc5572d1e4af444f4f510451
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_20.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_21.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76bb3ba945996d7998fdc8675c7a48afbc4ab01
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_21.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_22.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b4afd8526c81b05a0ddc5012ecab10617ad939
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_22.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_23.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2721d2b388d76e24c3009cc127987be8be0e6c0f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_23.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_24.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27df08ecbbf34c95a211af90b5bfc16f64e9650
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.08937668 -0.05730614 -0.07795105
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+v -0.07126738 -0.05694360 -0.07795105
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+
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_25.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fcd14148d3a88afe09a73316d84479e3a2c5362
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_25.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_26.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa395807994f2e184a6ebc4093c67b9b049a5785
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_26.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_27.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28a83dfb36c1fdeba190f7a4db9d0ce03a614e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_27.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_28.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562d0aeeb5374ac788aa84cba913d90ce75a301f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_28.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_29.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6d25527ff5f948c4277a9c76c865089c5c4bfe
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_29.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_3.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d2db6aacd5ab393700bd07010b1a2f23c8dd91
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_4.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fad293004aa54b2ed4e5a7de386089399caf44
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_4.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_5.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9a3a7e1ff863f6b87744043ac666717830d866
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_5.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_6.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13133ec92e827b9f02cd9fa983b805373836e16
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_6.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_7.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27dd2b0ae44dcac964421088fabe98aa33e3657e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_7.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_8.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4da0787f4564e4e4ea1d4d66f39e864b1fc69133
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_8.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_9.obj b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffe0dd9575b8caa73dad7fa0e11b15dd64ddf02b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/mesh/photo_frame_018_collision_9.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/photo_frame_018.xml b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/photo_frame_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8baa79630152759b5ab8a468ebc83df71d834ad7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/mjcf/photo_frame_018.xml
@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_018_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_018_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_018_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_018_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_018_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_018_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_018_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/photo_frame_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_018">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" 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/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.urdf b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..294d0939cbc75e0d699ae0bc714278bc5bdf5e12
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_018">
+   <link name="photo_frame_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_018.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_018_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>7341ab069aea5dfe879ddc6ffe0e7d0f</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>bamboo frame</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>rectangular bamboo-style wooden photo frame with rear 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>20260518201447</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.128203 -0.080781 -0.118934</min>
+            <max>0.128555 0.087983 0.181066</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7a78b28ed15a5df7722af8d773c8b2de0e394046
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/photo_frame_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc52a2ad5337946e136aa5e220de66cbda041d494203f45b3067b50849af5e81
+size 44405674
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/textures/material_0.png b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ccebff313c7f21d757ae0bc1c34427f6b962c31d77be55ad490fc68cb933cf7
+size 4502591
diff --git a/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/video.mp4 b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/7341ab069aea5dfe879ddc6ffe0e7d0f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfa8ea0106bd19151b369e85ee80dd4a35fd2229c2795841846e2c2af6d34fd
+size 394942