diff --git a/.gitattributes b/.gitattributes
index ee810c5251d1f9507cbf1b72231e508f9dad0942..0f9233f12ac7a05339184cda0bb58a3c13fa5308 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2920,4 +2920,9 @@ dataset/desktop_supplies/decorations/8e7efaf5765655318a458ae329101289/phone_stan
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/9336f0dd9da352f69adfd45d773162ff.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/decorations/9336f0dd9da352f69adfd45d773162ff/mesh/small_saucer_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/decorations/998edab00adc51a399b5b999112d8200/998edab00adc51a399b5b999112d8200.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/97adefb6410251f3922c7c7d81e3f079.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/mesh/mouse_pad.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/97adefb6410251f3922c7c7d81e3f079/mesh/mouse_pad_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.urdf b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b9d2e68612db65b36605f83a810823119a0a9ad
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.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>0.070001</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>20260120053702</generate_time>
+         <gs_model>mesh/tennis_ball_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.553964614868164</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.usd b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ab928b25c0204a42485a413793ba3f2bde8035b7
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/9490404f5aa5539e995543ff90c62a8b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104b833bf46f4685be65754209e7ba2cdd3fa13e9c8a856b5445a4ad43e4e76b
+size 324571
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/material.mtl b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/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/9490404f5aa5539e995543ff90c62a8b/mesh/material_0.png b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f55e8ed8ef511b856a80c3abf4f62dd6cbeffa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e455b1fde6e845702e4a010445defe0721a1f02d8bcd1013cf431410718dec62
+size 1137587
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.glb b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1a6020d77e707df3aabaf8074908a43b62c0202e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc9a4a55aaaaf630359cae0243ad390bb26bfeef67ce0e7ac66b43d9c6d95b2
+size 1355432
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7881bf5c11556ac6c83caed2972021954acfcb
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball.obj
@@ -0,0 +1,19816 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6078f3a183f8ae92b8a9b5aac97a051a4057e282
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_collision.obj
@@ -0,0 +1,44364 @@
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diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_gs.ply b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f66d596decc9a3f1d2122ae18c969053790acd2e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mesh/tennis_ball_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22934e7fff53fcc48d9db3aac90ccbdf9da3f18ded4c806a2ad88cd0c57da8ef
+size 4465577
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/9490404f5aa5539e995543ff90c62a8b.xml b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/9490404f5aa5539e995543ff90c62a8b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af6948cf235945db4dd9afd45b0a5651dca0d690
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/9490404f5aa5539e995543ff90c62a8b.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/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f55e8ed8ef511b856a80c3abf4f62dd6cbeffa
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e455b1fde6e845702e4a010445defe0721a1f02d8bcd1013cf431410718dec62
+size 1137587
diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball.obj b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc21519cba28abcbfeb38513e0f87c31fb41b6e
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball.obj
@@ -0,0 +1,19816 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision.obj b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c1b5fe8c7dd528a01635be888caff68cfef6b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision.obj
@@ -0,0 +1,44362 @@
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diff --git a/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision_0.obj b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c1b5fe8c7dd528a01635be888caff68cfef6b3
--- /dev/null
+++ b/dataset/desktop_supplies/decorations/9490404f5aa5539e995543ff90c62a8b/mjcf/mesh/tennis_ball_collision_0.obj
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