diff --git a/.gitattributes b/.gitattributes
index b0b01e073dd3b71fd077a22a2ec80cd606679018..918448aa0b837972861100203447fa9124963206 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4941,13 +4941,5 @@ dataset/livingroom_supplies/ornaments/4918da498a0b5b8c9e838bf3c372e12b/mjcf/mesh
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 dataset/livingroom_supplies/ornaments/5fa5c2e2593d59b9857102406ec6bf07/5fa5c2e2593d59b9857102406ec6bf07.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/houseplant_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/591165a8b0fd54b9a0e357cb82f73391/mesh/houseplant_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5adcd31f9dfd51f4b185573a7254a3a3/mesh/photo_frame_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5adcd31f9dfd51f4b185573a7254a3a3/mesh/photo_frame_028.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5adcd31f9dfd51f4b185573a7254a3a3/mjcf/mesh/photo_frame_028.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/5adcd31f9dfd51f4b185573a7254a3a3/photo_frame_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/mesh/photo_frame_014.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/mjcf/mesh/photo_frame_014.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/59b4afe9e27e543a878d27db937c267f/photo_frame_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8677dcfd859878cba881abecb87e0e67188d6484
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.glb b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bbba08b3b1411201f956c7950fab76e38188dad3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.mtl b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83e946d6c36b4a3444f6f30aaa4bf48f01731372
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.mtl
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+newmtl photo_frame_038_geometry_Looks_material_0
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d5b1bb513d0a28e4e54f42e50373fde68acb5f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038_collision.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85770ed0a5189ef62d43bdcfa98a730a140aa7c7
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mesh/photo_frame_038_collision.obj
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/material_0.png
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e869b76433774efcf39d5817abc8dd30b9f08930
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision.obj
@@ -0,0 +1,8212 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_0.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4982e95396a854abb79174ee0d50b788b9c09ef
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_0.obj
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_1.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b41a18f14ccd3f564ee43cb614598bc1f1955f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_1.obj
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_10.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c10900d2398fdb9c4896fa2be1174e37350671f8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_11.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242bdd59e4d8f86ab06d7358725216b85f372f98
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_11.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_12.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dcb6763b4bb2100fa100ae9a18dafff32524d2f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_13.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c896afd985bc561ca396c76e2351e26a7bad5b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_14.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c677fdcb077b991e5eb9d247a9d60a00cb5b79d0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_15.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54278210dd983c3dae5d3639e7b4413edde4b31b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_15.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_16.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..588f7f7c5bfd858ad63517405dc6e7dc3c70eba8
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_16.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_17.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb72c219deb5447a300e2ff046f2165919b1f0f0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_18.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22953a15d7bd730a910bae311b70c570496e6412
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_18.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_19.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16d41c04e101512f5e012f14960706c2af0db0cf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_19.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_2.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5154ce0dd19d0f902e2b53fe503b15445bf77a07
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_2.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_20.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db144674e8c110d42a8692ed380c55a5162eee0a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_20.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+v -0.00417573 -0.01354487 0.06571574
+v -0.00274294 -0.04798846 0.06571561
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+v -0.00528500 0.04765591 0.06566627
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+v -0.00417573 -0.04798827 0.01446269
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+v -0.00528500 0.04765607 0.02278777
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_21.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5dbd2a95bb324df66bda81db20ec56501469e2c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_22.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cbe8fac19ef4ca2f659cd59ae4bae3426904ce9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_22.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v -0.00417712 -0.04798846 0.06571561
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_23.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8146bf4eb0cec81be57e6891d43062c37ddd7bc0
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_23.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_24.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e9f3736e1171c4cff684d51216671a7fc09fa5
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_24.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_25.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2a887aa0c6393d993dd680bd00025fbd766a304
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_25.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_26.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2e79fac0bf81926f32a224e94ae7ef3f5f9646
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_27.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d758d1cdab126931f6603cb8ccf929ee082495
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_27.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_28.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccfeadc9501d2625ec76bcc06aa061f503e35eb
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_28.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_29.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49d4789f6cc811b9e53e8b12d16788420c11c5e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_29.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_3.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0fc5b6f8110ad48c9ef0ed2fd6178a909ce454
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_3.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_30.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2549c3d80a670208a3b9cae6b54d33328f3f6711
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_30.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_31.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832691031fd788770c0264deef2929a2eacdca75
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_31.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_4.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb6f58de8ea3adbce9247236ca3cd7f9db69940
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_4.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_5.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19002b09ae655529945126e4f9b08ed56be3a27
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_5.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_6.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a57561c151eeb620a820df619000c6af31fcf3
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_6.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_7.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27d26471773a231df4e806d6e2cd4dbd4af0494
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_7.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_8.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a456abde2c5df9408bb65a59650bd6fb774bb4
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_8.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_9.obj b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b4c095cb79b5859cf24be7b01d0dd4b306e00c
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/mesh/photo_frame_038_collision_9.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/photo_frame_038.xml b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/photo_frame_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b16638a949159c0265db6db44b28e0810bc39185
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/mjcf/photo_frame_038.xml
@@ -0,0 +1,78 @@
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.urdf b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6fd0e36665a9fc5c16534ee5bf74768e2c91ba99
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_038">
+   <link name="photo_frame_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3750" />
+         <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>601d0455f4d25e1d8163a7c03e739319</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>nikon photo frame</name>
+         <color>black,golden</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>black rectangular photo frame with gold corners and rear stand</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.25</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609203356</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054606 -0.094403 -0.095357</min>
+            <max>0.031782 0.094116 0.104643</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Corner guards and front frame face are merged; distinct support stand is fine.","merge_groups":[] }</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.usd b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c2791154e0e5c811d7157028d3140993f9a8294d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/photo_frame_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d477886a6fcf5830afdbd29518f8b560d6e8aa843898e102769e74fad5612e05
+size 4676173
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/textures/material_0.png b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99210a89ffb9a50256f6c2d9f5365f7c2ac80c86
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec95e757c3667db530e613a177de4404628ba943935d2d8f7ff32f890f52485
+size 8162047
diff --git a/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/video.mp4 b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59bf95892a6ab889686fe20199a90dfe615da977
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/601d0455f4d25e1d8163a7c03e739319/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae9b4deb5d3942774e1adc4777bbf526a5a4875a2606307fdb5005f9aa57622
+size 308855