diff --git a/.gitattributes b/.gitattributes
index 36e6d0eced494d9918b3fa79a291999d0a96a9d9..ffb46a27dd41fd786c8f0ceddc67774eccb1a77a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5022,5 +5022,7 @@ dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/mjcf/mesh
 dataset/livingroom_supplies/ornaments/cb58c0097f725447ad8b0569d62649d3/photo_frame_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/mesh/photo_frame_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/cb6c6fb3b09150e98d06f61b8901ac54/photo_frame_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/mesh/photo_frame_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/d13ebf06d7985f17a3b69548f2255b71/photo_frame_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/houseplant_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d1fab55c4dc65f6ba5d6537e0e8878f1/mesh/houseplant_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..202ca37cf38933bdc20f2eb6bb7e592337bec504
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_001_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.glb b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3477151fc4643295f77932bea8073ea539d4d95a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13816288
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.mtl b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8f7d85d233a1b47b85464f87afc75ad2c2713dc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.mtl
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+newmtl photo_frame_001_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
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa33d5bb2a32c36ebad90e172743f3fb654e0380
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001.obj
@@ -0,0 +1,107736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl photo_frame_001_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001_collision.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8359cfc625c805cec7ec693bec21201c82bf24c2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mesh/photo_frame_001_collision.obj
@@ -0,0 +1,11028 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d114ef5cfb82f5bdf04d09e6131631d41ef1470c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision.obj
@@ -0,0 +1,11028 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_0.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4974d26d16d5af764930d6bb9cbdc17f01864f26
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_0.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_1.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f742eba49ed38682b22ce2c192d695607ecc07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_1.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_10.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7724f82850566edb3382d2fccca29300bd2df67b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_10.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_11.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4492ee9f15e1b58f48d070babe506cb945623494
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_11.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_12.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21be4c070a9bf035d3ef0cf571cedce4124b00a1
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_12.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_13.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75eff97ceb11e53d9c8ef2949dbfc3d5109fa2d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_13.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_14.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9eea10b4f300704b269b5d16372b2ef28c7e553
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_14.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_15.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d45f08bf5ebd87eda5792f7fa2bb85921bd082a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_15.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_16.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9719f70b94ab3975e8aed41191c36a758f53f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_16.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_17.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6437c3e27e26c495d2accb937b88615d436b764
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_17.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_18.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5758aeec2d295aa723c6a7e726d74792f070924e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_18.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_19.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddea88648c9f3428ed8461c9cbfacdc63b7319fc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_19.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_2.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a06f8d40e458c24ede3d34df28027265786164
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_2.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_20.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7511c37593d0c8dccd3f8ec3a087697b411e4cf4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_20.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_21.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a6d7a4078d91e00861a00401f5f8fa19c34a2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_21.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_22.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79312472f50344d1ee69a3a6cdbe64893ec73fc5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_22.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_23.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791238803fdfcf90b0b2f34271e5a93a7594b69a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_23.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_24.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf6e42f89ef7b186e8735bf48aa48a4d9475fde
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_24.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_3.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e36ade1df704901c64a0e24b2b75ccba024560
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_4.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e7bf3307e92646b54dd7185135b9c98d77dfb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_4.obj
@@ -0,0 +1,970 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_5.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887cde40a10d235d2a99890445cd07aab3e65d1a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_6.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e5954491c200d7232cb06200d2f2ab50811616
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_6.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_7.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3200958c9d2da421cf42f7c55aed029c4b907c27
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_7.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_8.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffb66e025b0228a73705ab5a8ae657c6227e8c8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_8.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_9.obj b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eaaab7b06d8b45a4dac44f068bdb1bc9418e46
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/mesh/photo_frame_001_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/photo_frame_001.xml b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/photo_frame_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50b3eca79e2b7904a3e3b61fa62aa45456356530
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/mjcf/photo_frame_001.xml
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+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/photo_frame_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/photo_frame_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/photo_frame_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/photo_frame_001_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.urdf b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2058181671923adfb387f669ebece4d4869b2a0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_001">
+   <link name="photo_frame_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d2f909bcc0135f4cb9f284ea457b7e93</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>wooden photo frame</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wooden photo frame with landscape picture</description>
+         <min_height>0.2345</min_height>
+         <max_height>0.2345</max_height>
+         <real_height>0.2345</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260414160502</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.usd b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/photo_frame_001.usd
@@ -0,0 +1,3 @@
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+size 4608607
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/textures/material_0.png b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/textures/material_0.png
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 10979116
diff --git a/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/video.mp4 b/dataset/livingroom_supplies/ornaments/d2f909bcc0135f4cb9f284ea457b7e93/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 485248