diff --git a/.gitattributes b/.gitattributes
index 5e8fc42a7b30cb75930448dcc877eb759e7290db..ec1f6559cc1d7f49f2ce8b5b61f8358522ede1d0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5041,3 +5041,5 @@ dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/watering_
 dataset/livingroom_supplies/ornaments/ece678ff63435a40afef2433b6ff1734/ece678ff63435a40afef2433b6ff1734.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e1a98667ce675eeebef9d9a2bae12817/houseplant_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/e1a98667ce675eeebef9d9a2bae12817/mesh/houseplant_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38d63eb3d86104c1cc0333bff56b278fd93156dd
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_036_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd photo_frame_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bad2e56ae7b55aaee39cb88333f6dea1262eefa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/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/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.glb b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a03b97a3cbb14dd4364fccee8468c21e1565501
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11941872
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.mtl b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28710954b5c9212888ad473625547c799d33324e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_036_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb1a7302995570b313f27aaa4d3a094f2aa6653
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036.obj
@@ -0,0 +1,111572 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl photo_frame_036_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036_collision.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71956f0630a771ecab880854574319b28050359f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mesh/photo_frame_036_geometry_Looks_material_0.png
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8867400
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036.obj
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index 0000000000000000000000000000000000000000..b6362ff99c92c64b3cba74ac832cb280ce75b726
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedab8832143b2b5bf4338702142913eadc302c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision.obj
@@ -0,0 +1,10144 @@
+# https://github.com/mikedh/trimesh
+
+o photo_frame_036_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_0.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4145d68d1ad52e8112a40f50e0f6979910f3e31d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_1.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbdc0a725a270e8b9b7f38234d3612a4757b5cb1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_1.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_10.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377f15eb8af6079f6b0681ac92e633a2ec7a907f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_11.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61af7734167343a536938c1e2510799656bb7c88
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_12.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417fb8040d40d3bdb1c1a316be97a8e360e43f6a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_13.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87cfd624bc07a1bb9d9fe547d2218b9584efeeb7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_13.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_14.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b08d3f5a8ffe64b78f60d91137d21d153c84fa7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_14.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_15.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c44aeab68d1c296941ec16c5a055c5c360ce79c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_16.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce7d63927f6a24c4b42aeadcf19afb10bd0ff7d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_16.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_17.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4782a8a06ac2de78fe84d66e530f41879bdfcbec
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_17.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_18.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f694c282c7feebc95fd91197b76365ccf18cfcf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_18.obj
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_19.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67246136255d254ec7905682acdc1b7677b18c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_19.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00374094 0.00336989 -0.00459440
+v -0.00287503 0.00336989 -0.00459440
+v 0.00382996 -0.05099762 -0.00459460
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_2.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d16a853e8cd892569fb7a206d2ab4743dc22b65
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_2.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00195104 -0.04954696 -0.00458893
+v -0.00204823 -0.01139823 -0.00458879
+v 0.00375847 -0.04954696 -0.00458893
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_20.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1cb0c0bc56260393bc2e92dfa24a5a0ce0bd04
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_20.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01938233 0.02397248 -0.02920262
+v -0.02046556 0.02397248 -0.03124752
+v -0.02178081 0.02397248 -0.02920262
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_21.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f570bcd2c60e029feb8b0372a20d2d92e80fbfe2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_21.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.04469545 0.05591624 -0.07268189
+v -0.03928485 0.05591624 -0.07268189
+v -0.04447133 0.05591622 -0.06863275
+v -0.04469726 0.06707078 -0.07268185
+v -0.03682408 0.06790189 -0.07268185
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_22.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1208e2f6a31b4d4cf0425e8ac4a6dc4741f29b8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_22.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_23.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b148418381ce677b8a23aeecf29f35ab522f56e8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_23.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_24.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1d957fcbe077a9d186241f2f15dfac27b57e4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_24.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_25.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3136f493f3d63daafdd1cc2de77f67f011022b70
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_25.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_26.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93443d16b4076561b746cf0f03b973a836f3d13b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_26.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_27.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b7ffd736531d22a871a48c7706273ae76999feb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_27.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_28.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82ee14e448e044e94a0647e7a677adcd432b5e6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_29.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a3a84df1f80e44c97bcff9a940ab2fbad4b5da
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_29.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_3.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdca8bce9ce78541b8b1b92b44ce24ebde3aa0af
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_3.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.00703203 0.03099666 0.10288935
+v -0.00703203 0.03081490 0.10288935
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+v -0.00506168 0.05263306 0.10257110
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_30.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790538d47991ae986361ec380778f6042010652b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.04112346 -0.05225081 -0.05317927
+v -0.03850577 -0.05225078 -0.06198431
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+v -0.03850577 -0.02802565 -0.04886665
+v -0.04214094 0.00138691 -0.05541681
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+v -0.04232500 -0.01491547 -0.05541687
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+v -0.03934654 -0.01163392 -0.07354017
+v -0.03850577 0.00137644 -0.06201816
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+v -0.03850577 0.00138691 -0.05460441
+v -0.03863785 0.00138691 -0.05445604
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+v -0.04094002 0.00138691 -0.05363148
+v -0.04097610 0.00138691 -0.05368499
+v -0.04218375 0.00138691 -0.05551410
+v -0.04397596 -0.05098020 -0.06069031
+v -0.04397596 -0.05225079 -0.06069274
+v -0.04397901 -0.01491545 -0.06066584
+v -0.04397718 0.00138693 -0.06068281
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_31.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01db8264f05cad36f7396105aad203e680910316
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_31.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00703203 -0.04954824 0.07870631
+v -0.00482816 -0.05468039 0.07870629
+v 0.00126909 -0.05903923 0.05725180
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+v -0.00703203 -0.05267053 0.05725183
+v -0.00703203 -0.07936720 0.07870620
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+v -0.00039625 -0.07951179 0.07347279
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+v 0.00476602 -0.07644548 0.07016727
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_32.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb12311351e410ec61b12a2bd6dd9aa4a1c69c5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00703291 0.00083155 0.01627031
+v -0.00703291 0.00083157 0.01107779
+v -0.01203475 0.00083155 0.01627031
+v -0.00703291 -0.02809064 0.01627021
+v -0.01097003 -0.02189589 0.00443735
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+v -0.01056823 0.00083156 0.01308507
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+v -0.00939008 -0.02506615 0.00443734
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_33.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49fba29abd6019d4fede6028b670e22a68dc6a8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_33.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_34.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9e83a2a17632247512a0a312ee99a4d7f026ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.04114585 0.05591617 -0.05311464
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_35.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09510d6e5a8e0aee0d363bb49ad9ece5e9a3ff2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_35.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_36.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80483ad05d2f159207bfb168d7d0d5a213b54843
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_36.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v -0.00942527 0.00148616 0.00328388
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_37.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761bfce22fc508af4f10ab77f2ee1fd4cabac611
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_37.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01832424 0.03427705 -0.00317857
+v -0.01774626 0.03427705 -0.00177096
+v -0.01709716 0.03722835 -0.00317856
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+v -0.01614956 0.02772086 0.00393674
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+v -0.01586909 0.03117936 0.00393675
+v -0.01559362 0.03220908 0.00393676
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+v -0.01808583 0.02991137 -0.00317859
+v -0.01690884 0.02772087 0.00076702
+v -0.01554754 0.02421470 0.00393673
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+v -0.01602235 0.03798575 -0.00317856
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+v -0.00847159 0.02935820 0.00241840
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_38.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d16bbc7a6d364f8861b1dcd54662b502718be3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_38.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.03542790 0.05591612 -0.04160568
+v -0.03542790 0.05591617 -0.05494267
+v -0.03626525 0.05591613 -0.04346033
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_39.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a99ef9c4567ec8b02876dae2aecbf712673baf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_39.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.03850559 -0.02146725 -0.05292717
+v -0.03850559 -0.02146721 -0.06198940
+v -0.03704851 -0.02146724 -0.05321479
+v -0.03755993 -0.01002898 -0.05377396
+v -0.03850559 -0.01098198 -0.05355401
+v -0.03850559 -0.01821672 -0.06200453
+v -0.03712071 -0.02146723 -0.05786923
+v -0.03745311 -0.01221238 -0.05367957
+v -0.03662439 -0.02146724 -0.05541779
+v -0.03716711 0.00138692 -0.05610870
+v -0.03850559 0.00138691 -0.05460382
+v -0.03850559 -0.01491700 -0.06201965
+v -0.03850559 -0.01163295 -0.06202319
+v -0.03850559 0.00137799 -0.06201869
+v -0.03716711 0.00138692 -0.05786380
+v -0.03850559 0.00138694 -0.06194568
+v -0.03848975 0.00138694 -0.06194924
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 14
+f 1 14 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 4 8 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 9
+f 9 15 10
+f 10 15 17
+f 10 17 16
+f 10 16 11
+f 14 16 17
+f 14 17 15
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_4.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1776645116d1d394799335c6c2f42417ba42ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00703094 0.05263323 0.05795684
+v 0.00243966 0.05263340 0.01080476
+v -0.00703094 0.05263336 0.02182589
+v -0.00703094 -0.01139845 0.05317467
+v 0.00305431 0.05263341 0.00744331
+v -0.00699259 -0.01139844 0.05297262
+v -0.00649298 -0.01139843 0.05033979
+v -0.00509606 -0.01139841 0.04285766
+v 0.00212960 -0.01139826 0.00407551
+v 0.00340162 -0.01139824 -0.00276984
+v 0.00373798 -0.01139823 -0.00459445
+v -0.00699259 0.05263336 0.02160547
+v -0.00703094 0.01247575 -0.00353510
+v -0.00703094 -0.01139830 0.01275772
+v 0.00416089 0.05263346 -0.00459422
+v -0.00204803 -0.01139823 -0.00459445
+v -0.00681291 0.05263336 0.02060132
+v -0.00703094 0.01005640 -0.00412291
+v -0.00657077 0.05263337 0.01926654
+v -0.00620812 0.05263338 0.01729498
+v -0.00597804 0.05263338 0.01605204
+v -0.00434775 0.05263341 0.00738208
+v -0.00310092 0.05263344 0.00076940
+v -0.00284783 0.05263344 -0.00056538
+v -0.00244464 0.05263345 -0.00265327
+v -0.00205241 0.05263346 -0.00459422
+v -0.00702765 -0.01139829 0.01044940
+v -0.00703094 -0.00647176 -0.00249429
+v -0.00703094 -0.00497376 -0.00389642
+v -0.00703094 -0.00178972 -0.00441685
+v -0.00703094 0.00148834 -0.00449643
+v -0.00244683 -0.00802616 -0.00459444
+v -0.00703094 0.00657778 -0.00439845
+v -0.00287851 0.00476639 -0.00459439
+v -0.00703094 0.00331853 -0.00448419
+v -0.00703094 0.00476639 -0.00447193
+v -0.00287194 0.00148834 -0.00459440
+v -0.00285989 -0.00102505 -0.00459441
+v -0.00280072 -0.00437831 -0.00459443
+f 1 2 5
+f 1 5 15
+f 1 15 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
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+f 1 12 3
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+f 1 33 36
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+f 4 7 6
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+f 11 26 15
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+f 13 24 25
+f 13 25 26
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+f 14 28 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 18 26 33
+f 26 34 31
+f 26 31 35
+f 26 35 36
+f 26 36 33
+f 31 34 37
+f 31 37 38
+f 31 38 39
+f 31 39 32
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_40.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fcb5463297c241f33e751233b16d5e9a71ef5ff
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_40.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01147829 -0.00018133 0.00032090
+v -0.01121107 0.00083161 0.00083030
+v -0.01147568 0.00083161 0.00032090
+v -0.01136949 -0.00338584 0.00032089
+v -0.01100520 0.00083161 0.00115953
+v -0.00703203 0.00083161 0.00032090
+v -0.01068967 -0.00573773 0.00032088
+v -0.00925603 -0.00179466 0.00307745
+v -0.01087115 -0.00179465 0.00116191
+v -0.00971215 0.00083160 0.00286105
+v -0.00703203 -0.00529030 0.00032088
+v -0.00703203 0.00083160 0.00381352
+v -0.01004118 -0.00602149 0.00032088
+v -0.00886868 -0.00380578 0.00268156
+v -0.00733538 0.00083160 0.00378959
+v -0.00939008 0.00083160 0.00324293
+v -0.00703203 -0.00523864 0.00050105
+v -0.00722048 -0.00560692 0.00032088
+v -0.00703203 -0.00217234 0.00317078
+v -0.00779107 -0.00380578 0.00268156
+v -0.00703203 -0.00241718 0.00309762
+v -0.00703203 -0.00356764 0.00238344
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 18
+f 1 18 13
+f 1 13 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 16
+f 2 16 15
+f 2 15 12
+f 2 12 6
+f 2 6 3
+f 2 4 5
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 12 19
+f 6 19 21
+f 6 21 22
+f 6 22 17
+f 6 17 11
+f 7 13 14
+f 7 14 8
+f 8 15 16
+f 8 16 10
+f 8 10 9
+f 8 14 15
+f 11 17 18
+f 12 15 14
+f 12 14 19
+f 13 18 20
+f 13 20 14
+f 14 20 21
+f 14 21 19
+f 17 22 18
+f 18 22 20
+f 20 22 21
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_41.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eaf5c139350deebfa52427813f5d9d8caae04a3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_41.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.02178158 0.01460145 -0.02104858
+v -0.02178158 0.01700046 -0.02131086
+v -0.02483508 0.02607247 -0.02699154
+v -0.02484148 0.02444028 -0.02694347
+v -0.02178158 0.01132505 -0.02110761
+v -0.02178158 0.02365663 -0.02363645
+v -0.02189880 0.02365663 -0.02363645
+v -0.02299797 0.02607246 -0.02557737
+v -0.02643882 0.02607248 -0.03041878
+v -0.02722417 0.02384656 -0.03214333
+v -0.02722417 0.01132509 -0.03222425
+v -0.02722417 0.01070491 -0.03222862
+v -0.02722417 0.00738524 -0.03226361
+v -0.02722417 0.00151513 -0.03242974
+v -0.02686773 0.00151513 -0.03193139
+v -0.02178158 0.00853182 -0.02227043
+v -0.02178158 0.02607246 -0.02571508
+v -0.02722417 0.02607249 -0.03221326
+v -0.02722417 0.02597153 -0.03220889
+v -0.02722417 0.02444030 -0.03214333
+v -0.02722417 0.00151515 -0.03887766
+v -0.02525227 0.00151512 -0.03020466
+v -0.02372046 0.00151512 -0.03020466
+v -0.02370554 0.00151512 -0.03022215
+v -0.02208475 0.00151513 -0.03243193
+v -0.02199364 0.00151513 -0.03257618
+v -0.02178158 0.00216897 -0.03304393
+v -0.02178158 0.02607249 -0.03335203
+v -0.02722417 0.02607252 -0.04161411
+v -0.02644095 0.00151515 -0.03910060
+v -0.02722417 0.00230601 -0.03998582
+v -0.02221422 0.00151514 -0.03507229
+v -0.02178158 0.00240455 -0.03456083
+v -0.02408916 0.02444032 -0.03809727
+v -0.02418666 0.02607251 -0.03797704
+v -0.02178158 0.01691637 -0.03454548
+v -0.02693486 0.02607252 -0.04148296
+v -0.02722417 0.01132513 -0.04330155
+v -0.02631734 0.00151515 -0.03913557
+v -0.02722417 0.00267620 -0.04042516
+v -0.02228295 0.00151514 -0.03529087
+v -0.02397300 0.00476510 -0.03828968
+v -0.02178158 0.00371222 -0.03461766
+v -0.02222114 0.00173629 -0.03525808
+v -0.02463048 0.02607251 -0.03879888
+v -0.02178158 0.01460150 -0.03464166
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+v -0.02497201 0.00804392 -0.03996613
+v -0.02722417 0.00971217 -0.04337805
+v -0.02612340 0.02607252 -0.04077478
+v -0.02617508 0.00151515 -0.03913994
+v -0.02722417 0.00373148 -0.04104809
+v -0.02402948 0.00151515 -0.03804271
+v -0.02380251 0.00151515 -0.03769517
+v -0.02235808 0.00476509 -0.03561216
+v -0.02401723 0.00151515 -0.03802741
+v -0.02722417 0.00837565 -0.04326659
+v -0.02178158 0.00476509 -0.03463951
+v -0.02178158 0.01132510 -0.03467228
+v -0.02397567 0.00804391 -0.03831372
+v -0.02722417 0.00499829 -0.04170817
+v -0.02692208 0.00476511 -0.04146118
+v -0.02236074 0.00804390 -0.03562964
+v -0.02178158 0.00804390 -0.03466573
+f 1 2 3
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+f 1 27 33
+f 1 33 43
+f 1 43 58
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+f 1 28 17
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+f 2 7 3
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+f 32 41 33
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+f 33 41 44
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+f 34 45 35
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+f 34 48 49
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+f 34 38 45
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+f 38 50 45
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+f 40 53 51
+f 41 54 44
+f 42 55 43
+f 42 44 54
+f 42 54 56
+f 42 56 57
+f 42 57 49
+f 42 49 48
+f 42 48 55
+f 43 55 58
+f 46 59 48
+f 46 48 47
+f 48 59 60
+f 48 60 55
+f 52 61 62
+f 52 62 53
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+f 53 57 56
+f 55 60 63
+f 55 63 64
+f 55 64 58
+f 57 62 61
+f 59 64 63
+f 59 63 60
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_42.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896c8aa8f432e46f379bf42f3dffb0e6e5fc20d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_42.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01721553 -0.03127776 0.00032079
+v -0.01710437 -0.03130718 0.00076766
+v -0.01612487 -0.02802830 0.00407225
+v -0.01601370 -0.02760167 0.00443732
+v -0.01698410 -0.02844206 0.00032080
+v -0.01721371 -0.03187910 0.00032078
+v -0.01569297 -0.03135133 0.00443730
+v -0.01600642 -0.02802831 0.00443732
+v -0.01683649 -0.02802829 0.00076767
+v -0.01547429 -0.02418670 0.00443733
+v -0.01687111 -0.02802829 0.00032080
+v -0.01652031 -0.03470192 0.00032077
+v -0.01571120 -0.03149477 0.00433939
+v -0.01568204 -0.03144696 0.00443730
+v -0.01535858 -0.02368650 0.00443733
+v -0.01591530 -0.02550338 0.00032081
+v -0.01587703 -0.03582370 0.00032077
+v -0.01546154 -0.03373831 0.00341583
+v -0.01494946 -0.03326203 0.00443730
+v -0.01572760 -0.02503812 0.00032081
+v -0.01495402 -0.02287735 0.00443734
+v -0.01285196 -0.01835714 0.00032083
+v -0.01500504 -0.03643608 0.00032077
+v -0.01337588 -0.03377510 0.00443730
+v -0.01417133 -0.02236428 0.00443734
+v -0.01336859 -0.02191741 0.00443734
+v -0.01224695 -0.01819163 0.00032083
+v -0.01331757 -0.03648205 0.00032077
+v -0.01331757 -0.03569130 0.00158281
+v -0.01322280 -0.03380636 0.00443730
+v -0.01329479 -0.03386337 0.00433939
+v -0.01097040 -0.02189718 0.00443734
+v -0.01010753 -0.01769510 0.00032084
+v -0.01087564 -0.03513776 0.00032077
+v -0.01091391 -0.03349925 0.00407223
+v -0.01104876 -0.03339627 0.00443730
+v -0.01317998 -0.03380636 0.00443730
+v -0.00993805 -0.01803347 0.00032083
+v -0.00939044 -0.02506756 0.00443733
+v -0.01064694 -0.03465963 0.00032077
+v -0.00805194 -0.03017807 0.00443731
+v -0.00910889 -0.03163638 0.00443730
+v -0.00802825 -0.02794004 0.00443732
+v -0.00790797 -0.02832255 0.00443732
+v -0.00960730 -0.02076251 0.00032082
+v -0.00949614 -0.03109018 0.00032079
+v -0.00924283 -0.03103133 0.00108639
+v -0.00811116 -0.03016887 0.00407224
+v -0.00845741 -0.02975326 0.00240041
+v -0.00845741 -0.02964660 0.00240041
+v -0.00943509 -0.03039689 0.00032079
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+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 22
+f 1 22 27
+f 1 27 33
+f 1 33 38
+f 1 38 45
+f 1 45 51
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+f 1 17 12
+f 1 12 6
+f 1 6 2
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+f 46 49 47
+f 47 49 48
+f 49 51 50
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_43.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96db531617cdce3399925cf9f21c292c7ae132ba
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_43.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01652743 0.01789505 -0.01964661
+v -0.01966747 0.01787466 -0.01964661
+v -0.01651906 0.01788372 -0.01964661
+v -0.01950302 0.02397019 -0.02554054
+v -0.01975388 0.02397019 -0.02494562
+v -0.02032810 0.02397019 -0.02421975
+v -0.02058803 0.02365761 -0.02363607
+v -0.02178035 0.02365761 -0.02363607
+v -0.02018594 0.01734915 -0.01964662
+v -0.01504729 0.01460152 -0.01964663
+v -0.01913438 0.02397020 -0.02852352
+v -0.02178035 0.02397019 -0.02416550
+v -0.02178035 0.01700032 -0.02131070
+v -0.02145353 0.01646575 -0.02061195
+v -0.02105910 0.01460152 -0.01964663
+v -0.01926190 0.02397021 -0.02897531
+v -0.01469817 0.01132385 -0.01964664
+v -0.02178035 0.02397021 -0.02920262
+v -0.02178035 0.01460153 -0.02104880
+v -0.02150858 0.01460153 -0.02050440
+v -0.02117269 0.01132385 -0.01964664
+v -0.01938176 0.02397021 -0.02920262
+v -0.01749815 0.01788148 -0.02559855
+v -0.01820895 0.01788149 -0.02725046
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+v -0.01477413 0.00335279 -0.01964667
+v -0.01486960 0.00083168 -0.01964668
+v -0.01759014 0.00804393 -0.02460145
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+f 1 48 36
+f 1 36 25
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_44.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1787eafd9268fd120f738ce19feabcff755c7e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_44.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.03542765 -0.05225085 -0.04263977
+v -0.03850577 -0.05225083 -0.04869191
+v -0.03542765 -0.05225081 -0.05484066
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+v -0.03850577 -0.05225078 -0.06198580
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+v -0.03850577 -0.02147022 -0.06198947
+v -0.03542765 -0.03130858 -0.05491258
+v -0.03542765 -0.05098223 -0.05484635
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+v -0.03704837 -0.02147025 -0.05321150
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+v -0.03542765 -0.02478788 -0.05209011
+v -0.03542765 -0.02335658 -0.04819552
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_45.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ceff98ecf697823f134d1da0d5c9915a59f4c2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03542790 0.01784467 -0.04521497
+v -0.03542790 0.02077765 -0.04651323
+v -0.03778930 0.02626359 -0.05030125
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+f 28 29 36
+f 29 30 36
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+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_46.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f8ac2ad329403a4b1502c3e9e90f5ab28f0e7a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_46.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02516169 -0.00826810 -0.03427594
+v -0.02722417 -0.00047483 -0.03745756
+v -0.02722417 0.00030756 -0.03804225
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+v -0.02712561 -0.00507343 -0.03228076
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+f 38 40 39
+
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_5.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb8aa6da5b1789144505418526482d2e87c17c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.03934924 0.00138699 -0.07354250
+v -0.03804352 0.00138707 -0.09507077
+v -0.04474986 0.00138699 -0.07354250
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_6.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e338e865a52cdeb2c3bbaf85f4908721610723e5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_6.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_7.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa5fb19dd9fc1c9e0592b1a065f229f98f3ac38
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_7.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_8.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf268bbfdd61c58c60e2c2a022c25688eec3215
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_9.obj b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1dd2a3c6bfcf702b6993a3cd46f4685cce9e314
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/mesh/photo_frame_036_collision_9.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/photo_frame_036.xml b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/photo_frame_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..611ab73261e2df3e2ceb158dd4c4a28d71fa8c50
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/mjcf/photo_frame_036.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_036_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_036_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_036_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_036_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_036_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_036_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_036_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_036_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_036_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/photo_frame_036_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/photo_frame_036_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/photo_frame_036_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/photo_frame_036_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/photo_frame_036_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/photo_frame_036_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/photo_frame_036_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/photo_frame_036_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/photo_frame_036_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/photo_frame_036_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/photo_frame_036_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/photo_frame_036_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/photo_frame_036_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/photo_frame_036_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/photo_frame_036_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/photo_frame_036_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/photo_frame_036_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/photo_frame_036_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/photo_frame_036_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/photo_frame_036_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/photo_frame_036_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/photo_frame_036_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_036">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.urdf b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4efa199e2ae96c2500560553895aaf82400d2249
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_036">
+   <link name="photo_frame_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_036.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_036_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>ef2a1859908a58ed8fb68a7f4228d3d9</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wooden photo frame</name>
+         <color>brown,black</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>brown tabletop photo frame with wavy carved border and rear stand</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203313</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045590 -0.079312 -0.097559</min>
+            <max>0.034771 0.078998 0.102441</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.usd b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.usd
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/photo_frame_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b1cb34bcfa83ba675760c4111226e18e94bca76193688aa724d04901732f049
+size 4753213
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/textures/material_0.png b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 8867400
diff --git a/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/video.mp4 b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/ef2a1859908a58ed8fb68a7f4228d3d9/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:e9047df2667546ff3373cf5abfc4ef31dff22c62fd9141d0c61805f1645283dc
+size 282286