Tawheed means not believing nor worshiping but only Allah (SWT). Shirk is believing or worshiping other than Allah with Allah (SWT). We believe that the Prophet and his Ahlul Bayt are the most humble servants of Allah.
Prostrating at the doorstep of the Prophet (SAWA) is in fact for thanking Allah for granting us the great bounty of visiting the shrine of the Prophet (SAWA) or his Ahlul Bayt (AS). Thanking Allah in the form of prostrating is a sincere worship to Allah and can never be Shirk. We never believe nor accept any claim suggesting worshiping the Prophet, his Ahlul Bayt or any one but only Allah (SWT). Respecting the Prophet and his Ahlul Bayt does not mean worshipping them at all. Respect is completely different from worshiping. Wahhabis mix wrongly between respect and worship. Even we prostrate at the doorstep of the holy shrines, we never do it as a sign of respect but we do it as an act of thanking Allah for His great bounties on us.
Thank you for your question. Shirk is to limit Allah in any way such that even the conception of another god would be possible. Even to say He is a god is not satisfactory as that would entail a genus of gods under which God would be a species with only one referent. Numerical oneness is limited, as in numbering God as one a person gives the possibility of two gods. Numbers themselves are a factor of the material world. Rather, Allah is above being numbered as a number entails a limit and He is above all limitations.
As for prostration, it is clear that if a person prostrates to a being in worship then that is completely forbidden in Islam and Shiism as a sect within Islam. However, prostration does not only entail this meaning and is also a symbol of humbleness. For this reason God commanded the angels to prostrate to Adam (as), not in worship or out of polytheistic intent. So too Prophet Ya'qub (as) prostrated in front of Prophet Yusuf (as).
We do not have an evidence that Zulaikha or her husband were Mushriks. Many scholars say that if the Azeez (King) of Egypt was a Mushrik, he would have never behaved with Yousuf in the way he behaved and he would have never given him the charge in the treasury of Egypt. Zulaikha tried to do wrong against Yousuf but she could not because of the firm faith and strong will power if Yousuf. Later in she has repented and become a good person. Allah (SWT) forgives every sincere person who repents and seeks forgiveness.
Insofar as you are not intentionally worshipping or praying to the picture or the people and just had it there by accident, it is not shirk. However it is better not to pray in front of the picture (and you fixed that anyway so that is not a problem). Accidents happen!
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