diff --git a/.gitattributes b/.gitattributes
index 17af252cbe732d56fa9444566b8544c4a2d433cb..214312113f441aee89c6465044cb2a8cf93819a3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4890,3 +4890,7 @@ dataset/livingroom_supplies/ornaments/08589d16ba255384b6bae89f3597ed58/mesh/cand
 dataset/livingroom_supplies/ornaments/08589d16ba255384b6bae89f3597ed58/mjcf/mesh/candle_holder_026.obj filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/07a12438c7da5746bf3f6f8eb84abf9a/candle_holder_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/07a12438c7da5746bf3f6f8eb84abf9a/mesh/candle_holder_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2aabbbeb9e2d0c66edadb3d038de8c6a0b070115
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_020_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd photo_frame_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..77b9e520a9c7168b702ddcab5ad203de2ce84a5d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610d25b4855f27dac0543ae55d5c8c4cca1f3799e3c010b4d0beb5545935617d
+size 5083707
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.glb b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07e2e01530feeeea4a3a8c4245699a49c03c6ac0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93047823bc86870888987fa667de82f95fd43b1ba0a526f76eee5bfccba6a003
+size 24464920
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.mtl b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..184ea3e987c928820ae989fb607e29aacc85fc62
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.mtl
@@ -0,0 +1,6 @@
+newmtl photo_frame_020_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/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143d6be02b5a112a8a76e0de6cce923c5e85b810
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ca74097029d6f1cc7b609afcb34325943ca85aec6d80a114f5bc14a17c7b80
+size 38460757
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020_collision.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f2d1d08169f3921ae004fe8a2c2684d01041145
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mesh/photo_frame_020_collision.obj
@@ -0,0 +1,5501 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_0.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba5c9be5c5dd83715afb669dd169c7822c34665
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_1.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e967f809877fe2412fc880156fbae24d7fe7f5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_1.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_10.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a820b251794defc4261f90184b3c6bcc420fed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_10.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_11.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ddb92031e6b298b9c8d488daa22ad49bb5fde2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_11.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_12.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a354c56669fb8069ac7cf300252b550aa62d28f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_12.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_13.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7f2f7f0993e8fbccc4900cbda7c55651d69375
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_14.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b5481ad3cda2024aa54755ea49a35aec7dd4c6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_14.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_2.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d74b270debb10705033323e316126780374a8f6
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_2.obj
@@ -0,0 +1,631 @@
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_3.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42b8699d18af53c193210b9269e2c86f3fd82ea
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_3.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_4.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb940f079e38607daeb18ef430e6d5a0dc0df0b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_4.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_5.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d6a45c6873a42e78c03846240cabf8b8acef28
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_5.obj
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_6.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277d2a5597562fb4ee6be9832492e722ce56c27e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_6.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_7.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43bd9e72b1e4e7533f1da913262773ab3e0cb1a4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_7.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_8.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39c0d505412b65928d1792bfccd45c8734254b2a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_8.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_9.obj b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f77006346c7afe52a3ab60a22b4c64025a1556a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/mesh/photo_frame_020_collision_9.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/photo_frame_020.xml b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/photo_frame_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51c466cba5ff42d4e8bf59fd24db0eae53d1781a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/mjcf/photo_frame_020.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_020">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.urdf b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4f1c8606ff3517fee64f421f24c8a7bf696c155
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_020">
+   <link name="photo_frame_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_020.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_020_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>06bd06aa554c5a2d9d30196e574d02ee</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>square photo frame</name>
+         <color>brown,white</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>square brown wooden photo frame with white mat</description>
+         <min_height>0.0452</min_height>
+         <max_height>0.0452</max_height>
+         <real_height>0.0452</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201621</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.132122 -0.151599 -0.017625</min>
+            <max>0.132124 0.150722 0.027578</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.usd b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/photo_frame_020.usd
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/textures/material_0.png b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/textures/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/video.mp4 b/dataset/livingroom_supplies/ornaments/06bd06aa554c5a2d9d30196e574d02ee/video.mp4
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