diff --git a/.gitattributes b/.gitattributes
index e88e6bbddc5c4925275c24ebc8bd73f90241825e..1472092cd25215439be59dc79d0b666423e0cf69 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2868,3 +2868,6 @@ dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glass
 dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/1b33ae724d6d599b8c75427d7225d45b/1b33ae724d6d599b8c75427d7225d45b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.urdf b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bda174aa9fb7b2da7a9dccb04b1467e9405caa6f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.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>bright yellow spherical ball with curved seam patterns</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>20260120054310</generate_time>
+         <gs_model>mesh/tennis_ball_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.660778999328613</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/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.usd b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6a090d58e73439021c83614852a0f29c078fae7f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/1e03112974c258fd9a3d3ec3c65c2c4a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0623e559d4893d32190bf13f2fd2e4fe42bf6b43af273e20bf086fee656f6fd
+size 302662
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/material.mtl b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/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/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/material_0.png b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..69390ad263d443a7b6195cab566d0269c967fc6f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d01e7b9b66834c32c17bb8da9a6c56a8b516847b85225d0891eab0254e806f
+size 1075191
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.glb b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6dad2deb0bb5f9664c4c2f3c3db75dd4ab52762c
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f1fd7254eba0d82a5a4462cadc4315cd4c060175b42c95e0c41ccdc35f8cec
+size 1280456
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9815518217ed7639bc5d664c8f0ca94b6ec9db
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball.obj
@@ -0,0 +1,18694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ffae74e757b11ab91e17c3182be8965e7e7528
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_collision.obj
@@ -0,0 +1,43608 @@
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diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_gs.ply b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..98116274dc17fe0251aedbeb5842b441502305ae
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mesh/tennis_ball_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71551c4248ff096670568e0871795937f3e782748520e32d7ad7fe0906f1f38a
+size 4416745
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/1e03112974c258fd9a3d3ec3c65c2c4a.xml b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/1e03112974c258fd9a3d3ec3c65c2c4a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af6948cf235945db4dd9afd45b0a5651dca0d690
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/1e03112974c258fd9a3d3ec3c65c2c4a.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/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..69390ad263d443a7b6195cab566d0269c967fc6f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d01e7b9b66834c32c17bb8da9a6c56a8b516847b85225d0891eab0254e806f
+size 1075191
diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede6b585630bf37f6dcb1259eb2a6f37768ade11
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball.obj
@@ -0,0 +1,18694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a624ac8df1604c28ad4498e793061d5142aa4cd2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision_0.obj b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a624ac8df1604c28ad4498e793061d5142aa4cd2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/1e03112974c258fd9a3d3ec3c65c2c4a/mjcf/mesh/tennis_ball_collision_0.obj
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