diff --git a/.gitattributes b/.gitattributes
index a891a841a50e2a9e16f842f767d11a0ef4999426..daad57f795cd154056134e04d9518c50d0f5c86c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2874,5 +2874,6 @@ dataset/desktop_supplies/decorations/24e490df82cb5439acb8fe29df33391d/24e490df82
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/2d510f714f4b578ca82a1d0e42eed0ea.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/2d510f714f4b578ca82a1d0e42eed0ea/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/mesh/vase_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/2509ca002af558d495df4acaff50d646/vase_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.urdf b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5862dfb4a29b69aa9ceac765b0f7118b24ccce87
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tennis_ball">
+   <link name="tennis_ball">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tennis_ball.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tennis_ball_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0575" />
+         <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>0.070000</scale>
+         <version>v0.1.7</version>
+         <category>tennis ball</category>
+         <description>yellow spherical ball with curved white seams</description>
+         <min_height>0.065</min_height>
+         <max_height>0.075</max_height>
+         <real_height>0.07</real_height>
+         <min_mass>0.056</min_mass>
+         <max_mass>0.059</max_mass>
+         <generate_time>20260120054008</generate_time>
+         <gs_model>mesh/tennis_ball_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.608066082000732</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.usd b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7eb9c57f985a067c2079d2c56c8b6891b5976671
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/2a7bb38dbfc15bb98364049f3b2454b2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4962d84b21077bb4ea3366f9abfc4b8e3e7c54a302b156a69f0a18bc6090cbf9
+size 314347
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material.mtl b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material_0.png b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..316a86fa63786ee059fbf0ac1cba381df78d18ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b584bfd78e5948928e3342c17fe3d4708dc9959ff52e8f3d8d4629a863a816
+size 932877
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.glb b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e2d528082e75eae294f51308382b471676bb219
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9584f2e289ce0f538d2e44cfade36432b0d0306e743c8d34d1250f898f0f01c6
+size 1146280
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23e9084495bd392cfa62998ba6e29426ea478a7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball.obj
@@ -0,0 +1,19440 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.02356968 0.01435861 0.01971816
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diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d762b64bc0c3fd34f2bcf4c3366363f94ba078e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_collision.obj
@@ -0,0 +1,42630 @@
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diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_gs.ply b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9c0420afce4a3df9f36b1503262d4fbbef0ca528
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mesh/tennis_ball_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7b65bbf27ea54807cfe449cec4b67591fb0b1596ca83b3889154d2eabeb876
+size 4464905
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/2a7bb38dbfc15bb98364049f3b2454b2.xml b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/2a7bb38dbfc15bb98364049f3b2454b2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af6948cf235945db4dd9afd45b0a5651dca0d690
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/2a7bb38dbfc15bb98364049f3b2454b2.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tennis_ball">
+  <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/tennis_ball.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tennis_ball_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tennis_ball">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..316a86fa63786ee059fbf0ac1cba381df78d18ed
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b584bfd78e5948928e3342c17fe3d4708dc9959ff52e8f3d8d4629a863a816
+size 932877
diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc483076d93d9fb200eb38cc08c42f41839fc64f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball.obj
@@ -0,0 +1,19440 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972afa4e53362a2c1d41c0fdce80891362a6511f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision_0.obj b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972afa4e53362a2c1d41c0fdce80891362a6511f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/2a7bb38dbfc15bb98364049f3b2454b2/mjcf/mesh/tennis_ball_collision_0.obj
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