6.54-6.86 cm per ITF regulations; ~6.7 cm typical

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Tennis Ball
The fuzzy yellow sphere of athletic agony/Everyday Objects
A regulation tennis ball is a hollow rubber sphere covered in bright yellow felt, pressurized with air or nitrogen to give it a consistent bounce. The ITF mandates that a ball dropped from 2.54 meters must bounce to between 1.35 and 1.47 meters. The yellow color was adopted in 1972 because it showed up better on color television. Dogs consider them the single greatest invention in human history.
Measurements
56.0-59.4 g per ITF regulations
Sam Groth, 2012; 263.4 km/h (ATP-recognized record is lower)
When dropped from 2.54 m; ITF requires 1.35-1.47 m
Approximate peak force on a 60 m/s serve impact
~12 psi gauge pressure inside a new ball