diff --git a/.gitattributes b/.gitattributes
index 5f3fb4d06acb40e1a535231b7c9cf6070da9afbf..753ec99a93ff1dc2d7fb213603542f8f778ca75b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4999,7 +4999,9 @@ dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/mesh/wate
 dataset/livingroom_supplies/ornaments/b83504e31bcc5479934ee18a6fd13ae1/watering_can_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/candle_holder_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/c0a68f9999725308b4169378e21b627c/mesh/candle_holder_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mesh/photo_frame_025.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/mjcf/mesh/photo_frame_025.obj filter=lfs diff=lfs merge=lfs -text
-dataset/livingroom_supplies/ornaments/c0db466c3bcc5ce7af7af6d1b3df7922/photo_frame_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/houseplant_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/b99c203dfe0e501695395da39bcd44bf/mesh/houseplant_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012.obj filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material.mtl b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc67b81805f538e2458d2c15df40d424c49aff92
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl photo_frame_012_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
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\ No newline at end of file
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material_0.png b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7d78c9bc1c1db0977c8cd24f077b109b70ba6de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45505382857b8aa2d5a5aa981325ce417fabc889ab9e8c1e2ffb6b35769be376
+size 3710209
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.glb b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c833995010f0b66d066e8d487efeb4b3aee18ff2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3805e281344c4fb9e4c7147d54bb70b6831c748728994884cd541dd9faeafa0e
+size 36805608
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.mtl b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4ee7ed783a16efade50fbfa7ae92fc166e5b209
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.mtl
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+newmtl photo_frame_012_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/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390dd9d35a734cf4771c0ca8967946ce9cf67663
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21400cf00beed4a2110219b6bef3816088e30c7de397a004d3e20fb60607a716
+size 40943929
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012_collision.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f67f248702d9aaf2c7d578e4fb7fb44e982c8a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mesh/photo_frame_012_collision.obj
@@ -0,0 +1,4867 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012.obj
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_0.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2012e4eeb095229299ec20aeadf02ebbf609f912
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_0.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_1.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c126c5862afbbba5dd175e1be69cd4648972b31
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_1.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_10.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2c87a96cd78ede90c2f9f21b68fc17ee1f2e24
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_11.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2979eae79e5fae41284b3438d028e31f2f25bb5b
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_11.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_12.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03192d5c816b5da2ccf07c0303859e3938b7978
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_12.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_13.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb30d7a31aba0eced6e49d639c433c7ee2aa09ab
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_13.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_14.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..560b5ecd6609e9aca01bf1ec490a4e7e46db1d17
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_14.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_15.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c305c7d58a6c25c9c78c17d95802a87cacad9f2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_15.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_16.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29fea00c6d9980123a3a65bb5177f5cbf97970d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_17.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e65c199f8ff0ec17942ae5b793c1abb024324618
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_18.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c3a4d1a9be78561d68d8f3939c1f6e3b7bf229
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_18.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.11204308 -0.01354214 0.02448757
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_19.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..999401ac68f5b738a8dd1341c3e6e02c310b038f
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_2.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb41cfb6518e686398e7727d0698817de929f6d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_2.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_3.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b826dae354296b4ab8bf43661cc8ff680a4a4a
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_4.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7656e482104bbb6b719b8a307864e2bdd4b95522
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_5.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cfbc9253cc88f7fe17fcdb1a30f202fe2d71e2e
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_6.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379d053f15c8ae5f66ad67007b9396f3326c83bf
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_7.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba59558bd7847d93717a43f17689eb63deea046d
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_8.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f61f89e588425280e38aada570f9d17b53b58c9
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_8.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_9.obj b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9558cbf5f10aa6bec334e165b49dd97d319a061
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/mesh/photo_frame_012_collision_9.obj
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diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/photo_frame_012.xml b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/photo_frame_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..62ad88a6201784442f18eed07bade062aef176d2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/mjcf/photo_frame_012.xml
@@ -0,0 +1,54 @@
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+    <mesh name="collision_mesh_0_0" file="mesh/photo_frame_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/photo_frame_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/photo_frame_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/photo_frame_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/photo_frame_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/photo_frame_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/photo_frame_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/photo_frame_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/photo_frame_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/photo_frame_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/photo_frame_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/photo_frame_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/photo_frame_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/photo_frame_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/photo_frame_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/photo_frame_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/photo_frame_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/photo_frame_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="photo_frame_012">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_19" 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/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.urdf b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f3af58f75a3b2978665f106a26efe741b0a54c91
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="photo_frame_012">
+   <link name="photo_frame_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/photo_frame_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0500" />
+         <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>baad6b90b1685f44a7919ed4d1713f69</uuid>
+         <domain>livingroom_supplies</domain>
+         <super_category>ornaments</super_category>
+         <category>photo_frame</category>
+         <name>ornate frame</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>wood</material>
+         <description>ornate rectangular beige photo frame with carved decorative border</description>
+         <min_height>0.0373</min_height>
+         <max_height>0.0373</max_height>
+         <real_height>0.0373</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518201048</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.118785 -0.146110 -0.011756</min>
+            <max>0.119477 0.153890 0.025590</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/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.usd b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..15e782b4d0b86fd05f6b17df0c882df69e637ae2
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/photo_frame_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c83607cf61a95e1fa5f2ffe1a66c6ccc7137561d24aff940d51d4e9c95de572
+size 49004763
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/textures/material_0.png b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7d78c9bc1c1db0977c8cd24f077b109b70ba6de
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45505382857b8aa2d5a5aa981325ce417fabc889ab9e8c1e2ffb6b35769be376
+size 3710209
diff --git a/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/video.mp4 b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59fd0fdd4e1af72f38117a14a19a1f6667f9c3ed
--- /dev/null
+++ b/dataset/livingroom_supplies/ornaments/baad6b90b1685f44a7919ed4d1713f69/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e636e85b7c335aa32ae851f681958d5f3d890c89286101c03577a046b3659a7e
+size 610258