diff --git a/.gitattributes b/.gitattributes
index fdb22be5cbd5ef448f28dc38009c5b12cd536030..b5494395d8371c2d998419edaf0fc8a248d3eea2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2914,6 +2914,6 @@ dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacu
 dataset/desktop_supplies/decorations/8298700268da510ebd047e7620b9eaa5/mesh/teacup_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/mesh/mini_sculpture_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/861b0c30994e50aeac4e5066a57f7275/mini_sculpture_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/90bc497d7c25580caf71f5564d8e8439.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/90bc497d7c25580caf71f5564d8e8439/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.urdf b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e1a77feed53042a3574e55617623c5133f08e8f
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.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>0.070013</scale>
+         <version>v0.1.7</version>
+         <category>tennis ball</category>
+         <description>bright 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>20260120052631</generate_time>
+         <gs_model>mesh/tennis_ball_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6029372215271</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/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.usd b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.usd
new file mode 100644
index 0000000000000000000000000000000000000000..841ed4477ce9cf788c16c7392906ecf7254a78de
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/9290dfcc19a15643bf15089a1517a059.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f88ff9d7c953e1c784eebec4a04da648295e8b94ec0c7193b756b4669a810e8
+size 326944
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/material.mtl b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/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/9290dfcc19a15643bf15089a1517a059/mesh/material_0.png b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..778aef10692d839dbaadcd5fbc3cc9113e8ecd3e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3bb9af5fd5ee7288006f5d5dec24c8869595c56f4d66ce6c9a03467c628d353
+size 1013416
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.glb b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e0c2e560b1729a76d3494ebf6770d0dc904056fd
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8f3b8631c36b011b9dd47c5ef46b9332f1be0dd05584e81f2000168b23d18b
+size 1233692
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7eda05bf84760b7174853e947de2c36c227db98
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball.obj
@@ -0,0 +1,20052 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e492337a28be8bc4c9cd0500b9cd3ac7d1f2bb4
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_collision.obj
@@ -0,0 +1,41484 @@
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diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_gs.ply b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0b6ac540995a135091e2f8d986809f2d532d1e23
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mesh/tennis_ball_gs.ply
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+version https://git-lfs.github.com/spec/v1
+oid sha256:01d996869bdd67fb723efdbceba80d23aa16242181bde40e9689572acb183228
+size 4401737
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/9290dfcc19a15643bf15089a1517a059.xml b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/9290dfcc19a15643bf15089a1517a059.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af6948cf235945db4dd9afd45b0a5651dca0d690
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+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/9290dfcc19a15643bf15089a1517a059.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/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1013416
diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa5a63087dd2a3489a94e473d48759cbcfb7d487
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+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball.obj
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diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8febc4c91e24a17f336962e7ac3b1c798270dc53
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision.obj
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diff --git a/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision_0.obj b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8febc4c91e24a17f336962e7ac3b1c798270dc53
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9290dfcc19a15643bf15089a1517a059/mjcf/mesh/tennis_ball_collision_0.obj
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