diff --git a/.gitattributes b/.gitattributes
index 046f3534b1a71ad2fb58158d8858fa726a9e30f2..667256bc807eb5949b010b227e5beebad11ab953 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4881,3 +4881,5 @@ dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/mesh/baby_bottle_
 dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/fbaeac7589ea58af9bac3abad0301c3c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/mesh/red_cup_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e80ec54a245801b373f5db79c5d68da2bc8c5a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.glb b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.glb
new file mode 100644
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.mtl b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b642e538b518c38428684dd888aa024c19d458b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.mtl
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+newmtl photo_frame_007_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d50a935ccce74fed7b454f786685b16bb97ea6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007_collision.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b1ed6b36cb98246b7480e57dc076e840e57cdc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007_collision.obj
@@ -0,0 +1,10479 @@
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007_geometry_Looks_material_0.png b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mesh/photo_frame_007_geometry_Looks_material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/material_0.png
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+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007.obj
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index 0000000000000000000000000000000000000000..b609a0a6f15e15729a0a7c6928bc0340fc70f551
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922e3588b4a964baafd2f6037432766affb5a651
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision.obj
@@ -0,0 +1,10479 @@
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_0.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dce874420c36cc8092fece070bbc9613c49210c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_1.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd3677709cde54c461e452e304eb9a0a4f5f433
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_10.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5f230440c06d076733ad618a3b01d66e30db2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_10.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_11.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f68d2360633212d6d9d4af09798428682d958b5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_12.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672ff717f28de4c0fe42675f000b04e6103569d5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_12.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_13.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1873cce42b2e9bcf6153a0d27d3124a861ada994
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_13.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_14.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd33dae5ac27711a2b76bca02ed00cd94633d72b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_14.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_15.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8edc6d39a01f7f10c67bfc16318ad8773a7f650
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_15.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_16.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6733362bebeb8d5750337b3bc0f80da0185a9ecc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_16.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_17.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba903c5e35bbbd61f9d11badcd2d242d83adce6b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_17.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_18.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffe77462b3397685299a91ba491a4c3c3f9678c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_18.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_19.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a7378e82a07b5cce87e8e8c6b2866cb2eeb900
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_19.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00351603 0.08840161 0.04213304
+v -0.00351603 0.08771884 0.04161337
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+
diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_2.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2093ce57202ab7db385e56924fff0611ba474dd7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_2.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00424937 -0.05019053 0.04213825
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+
diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_20.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a92ffc28e14c6611fb03610e465d88c3e38d17e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03713469 -0.04983060 -0.08359281
+v 0.03678487 -0.04983060 -0.08356680
+v 0.03713469 -0.04655400 -0.08359280
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_21.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c982181c71a635a6437ada61cc5e09aac8b406fa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00351603 0.06054509 0.03589507
+v -0.00351603 0.06186463 0.02846550
+v -0.00574685 0.06390990 0.01951907
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+
diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_22.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806f3926bd1738c6fa46e03aea535a24616cd99b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_22.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02181474 0.04417708 -0.00278059
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+
diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_23.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1442dfc12b752d790a458799c7ee0f73c4aeb6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_23.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.01944462 0.02217159 -0.04011228
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+
diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_24.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9447b12aa396814ba58495d27b18c62071c1ac
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_3.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..914d9b689ba165ed95d647063220cddd2ee26337
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_3.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_4.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b23a589503f7c5cc389c7d6da51f295c5b3e1c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_4.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_5.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4bc1497bde61927ff0c1e9e74d16e178622f795
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_6.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185d94fb44352bf6fb4ff49245c098bd61aae290
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_7.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a71ace7ef2952d97a171621789211e895de20f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_7.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_8.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f01669a0a7e8b88643e6852d43edbb6dabb2065a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_8.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_9.obj b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/mesh/photo_frame_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbcf689d64ba10c156d8e3783b244334ebe6d09
--- /dev/null
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/photo_frame_007.xml b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/photo_frame_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a12e7ff70b5e85e234636a8de486cc99412601e9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/mjcf/photo_frame_007.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_007">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_007_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_007_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_007_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_007_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.urdf b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea0e73832112210227e21a663683e5d09eb86d32
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+++ b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_007">
+   <link name="photo_frame_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_007.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_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>
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+         <uuid>040fb359c1ff5e95870b5c1ac7d391f7</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>floral photo frame</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>ceramic</material>
+         <description>beige photo frame with blue floral design and scenic photo insert</description>
+         <min_height>0.2200</min_height>
+         <max_height>0.2200</max_height>
+         <real_height>0.2200</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416204131</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
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+            <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/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.usd b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/photo_frame_007.usd
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diff --git a/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/video.mp4 b/dataset/livingroom_supplies/ornaments/040fb359c1ff5e95870b5c1ac7d391f7/video.mp4
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