diff --git a/.gitattributes b/.gitattributes
index b3f7339597202c645688563dbd4529cc37e3fa3a..df43e9e26704cb391255b5a441df6a8da49c144d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2866,3 +2866,4 @@ dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_b
dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/0f6c25c786375b469ba227bc449305b5.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/decorations/0f6c25c786375b469ba227bc449305b5/mesh/glasses.glb filter=lfs diff=lfs merge=lfs -text
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
diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.urdf b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10b2e01c14d31db3266d2cc0373c9e48b805b2e2
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.urdf
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+ tennis ball
+ bright yellow spherical ball with curved seam patterns
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+ 0.07
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+ 0.056
+ 0.059
+ 20251006022655
+ mesh/tennis_ball_gs.ply
+
+
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+ 4.850394368171692
+ NO
+ YES
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ec469f19ceeb701760df3769686d9064de4098f4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/0f02d7fb5cd655719085b8a60f0aae38.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a3e93d6bd16d1959f6687c45292a8047e81c02327e2e085d219421d77e3818
+size 1020166
diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material.mtl b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material_0.png b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae4ea2b9c5f54c34011a7c35da00b5218c8e1a4c750103995aa760f875e663a4
+size 1180862
diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.glb b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0a9a58e21782b3fd214efbe23f7312bdd59e59ce
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a391dbba362f1457fe6a5d489515fc1bce26c85b8dd5a34c2d4b2c8026a8e7
+size 1864296
diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8145f790571c0880e29d50ccea62ce495b3a5f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball.obj
@@ -0,0 +1,62376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf25e183f5960290b058cbc7cbbc8bc6b1f416cf
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball_collision.obj
@@ -0,0 +1,45399 @@
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball_gs.ply b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mesh/tennis_ball_gs.ply
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/0f02d7fb5cd655719085b8a60f0aae38.xml b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/0f02d7fb5cd655719085b8a60f0aae38.xml
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81c66bdeda8524b041b92ebad5be1d5d7dc4b35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision_0.obj b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81c66bdeda8524b041b92ebad5be1d5d7dc4b35
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/0f02d7fb5cd655719085b8a60f0aae38/mjcf/mesh/tennis_ball_collision_0.obj
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