diff --git a/.gitattributes b/.gitattributes
index 2c1ce3d2cffcf8f0ee2f787c4490673c5c453aa6..722e34a555959577f2279b2d11294a1a22bf2c91 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4902,10 +4902,5 @@ dataset/livingroom_supplies/ornaments/1518b3ed231258ee9dc8992fa9c40740/photo_fra
 dataset/livingroom_supplies/ornaments/21b1b6edb55f501580fb0ffc53beabda/21b1b6edb55f501580fb0ffc53beabda.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/mesh/watering_can_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/220d9214b2ee555ea406f3b61e65f5bc/watering_can_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/diffuser_bottle_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/262fcedf3b0f556a9cc690a4f5615b02/mesh/diffuser_bottle_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/mesh/watering_can_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/watering_can_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/mesh/photo_frame_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2a20bc8a1bb553ed853254506ba67b1b/photo_frame_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/2fa840bcede65bb8b7a80e650233316a/2fa840bcede65bb8b7a80e650233316a.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03db52a7a95857a030649f87922ff9ec1e47aa24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.glb b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.glb
new file mode 100644
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+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.glb
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.mtl b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a71227d98abf96d242d315b8aa8ea660a2b7035
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3714bed992b83982f559578c0f99a48a50e87cfc
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040_collision.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0892a3bf8a9c20abdb0fa88a31812856825c9af5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mesh/photo_frame_040_collision.obj
@@ -0,0 +1,5363 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e632b6b3e17c12c29c9700f41440752943fcdf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision.obj
@@ -0,0 +1,5363 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_0.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1520ac71dfa521cdeb9c51fd4ecabdc246b2101c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_0.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_1.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183a2981e12d8dcd4e814bed611e72c643fde807
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_1.obj
@@ -0,0 +1,106 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_10.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89ee65f0080d1226749bdf8465993770ad061aa
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_10.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_11.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6504d90a84ebae827a25bb151fb0144eb1b622
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_12.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce85545861f36158e9e27d4d663e23517151c44a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_12.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_13.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4f6ec127c6cf7d0fe4b09ec1c32bda9da1b1d3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_14.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fe9f7e3138ad87d92f51f6b8fb2ef7bea5c423f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_14.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_15.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e51202c8ac84bf2a7c3b3c6b9aacd29a4aa34a2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_15.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_16.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e51d8b906a6ce7806775e38e85f329d772d3ef4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_16.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_17.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207da26df3aeeeaa6dd59ab351def1a915ee1ae3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_18.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..598f987dd83f283070cce6788132d1f531d8b012
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_18.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02588148 -0.06655834 -0.05626435
+v 0.02521046 -0.06655835 -0.05350059
+v 0.00976643 -0.06655834 -0.05626435
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_19.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0105ca01c93118e61a7e0f1a34cf32c3c9238fad
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00975174 -0.04362019 -0.05626427
+v 0.00974856 -0.03709089 -0.05626425
+v 0.02279976 -0.04362019 -0.05626427
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+v -0.00963770 -0.02399701 0.00303160
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+v 0.02280293 -0.01063466 -0.05626415
+v 0.01567717 -0.04362029 -0.02989892
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+v -0.00963770 -0.04362046 0.01642993
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_2.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93af1a28978ee735a2ec76923c7e178c8edba07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_2.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00963770 0.04464582 0.01643022
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+v -0.01236257 0.03564470 -0.00437045
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+
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_20.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3053b726b7e8bae47eaec907a5eb77c73e4bd92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_20.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.02330186 0.06471123 -0.09564319
+v 0.02308011 0.06471123 -0.09559515
+v 0.02079917 0.06769645 -0.09504798
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+v 0.03301047 0.06769644 -0.09287815
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_3.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f223eb8f02b044253c424f144d0b4e9326b5975d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_3.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_4.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47c38108195d27b4d6f69472d94b5b8acb0a55d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_4.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_5.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6402bf426ac2a631669965b67b363b1e01954eb3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_6.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..133b663a5b0339c5cba61a6ee9cb099299bfa2b4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_7.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce389358ca0e809238d00048c464ea0227ec649
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_7.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_8.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f45d4730ee03b25cac4231e8968fab6ead6e79
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_8.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_9.obj b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ad1a0d33466f5565fb9259ff13b3140e1ae794
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/mesh/photo_frame_040_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/photo_frame_040.xml b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/photo_frame_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5221f5aedfe64aa47b5d2406106e834e3f2ada63
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/mjcf/photo_frame_040.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="photo_frame_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/photo_frame_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/photo_frame_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/photo_frame_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.urdf b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2af1112a9dd6b3443feb65d2d687f5f5b4f6cf1d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_040">
+   <link name="photo_frame_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_040.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_040_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>2a51130f89bf5a13b17bb7ff2987a4df</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>black photo frame</name>
+         <color>black</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>black rectangular photo frame with rear support 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>20260609203438</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034617 -0.078281 -0.095167</min>
+            <max>0.039275 0.079433 0.104833</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.usd b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/photo_frame_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d485c22dfcc6ea800c8a0a8446becf6c43e2110e42bc379ccbf33a4d438312
+size 4430738
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/textures/material_0.png b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/textures/material_0.png
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+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:125faaaac8692e93963f11ceded65bb87b087434ad96cdb0508af568098ea764
+size 7180972
diff --git a/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/video.mp4 b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..908cbd6e4c9be83c47ccd771eec906e3eca18a03
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:55895155caeed242f0cf1112be4210ae2cd571da5e7ad1af8234f605b8b6e7da
+size 144405