diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..bb6b7d6c8f1ff345c6ef40d96f306579b951ac15 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,11 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+demo_assets/banana/result/mesh/banana.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/book/result/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/lamp/result/mesh/lamp.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/mug/result/mesh/mug.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/remote_control/result/mesh/remote_control.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/table/result/mesh/table.glb filter=lfs diff=lfs merge=lfs -text
+demo_assets/vase/result/mesh/vase.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/demo_assets/banana/result/banana.urdf b/demo_assets/banana/result/banana.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6844997370251c47afc2452e97065e5dcee2e94
--- /dev/null
+++ b/demo_assets/banana/result/banana.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="banana">
+   <link name="banana">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/banana.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/banana_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.164228</scale>
+         <version>v0.1.4</version>
+         <category>banana</category>
+         <description>ripe yellow banana with brown spots and curved shape</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.18</max_mass>
+         <generate_time>20250922150258</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.976566791534424</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/banana/result/mesh/banana.glb b/demo_assets/banana/result/mesh/banana.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fac83030d553dd0b9c1f2ecc631cd8c265f75f8a
--- /dev/null
+++ b/demo_assets/banana/result/mesh/banana.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97c5f620e1ca009769dc127df8391d9483899530e01abeca1efe4b179fb4774
+size 1505608
diff --git a/demo_assets/banana/result/mesh/banana.obj b/demo_assets/banana/result/mesh/banana.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e970df400f3ecd22df324e460c92b1f8d75853e
--- /dev/null
+++ b/demo_assets/banana/result/mesh/banana.obj
@@ -0,0 +1,21068 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/demo_assets/banana/result/mesh/banana_collision.obj b/demo_assets/banana/result/mesh/banana_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4eaf47bdffb744013d6a7d4ea3291a3aaf209f9
--- /dev/null
+++ b/demo_assets/banana/result/mesh/banana_collision.obj
@@ -0,0 +1,10882 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/demo_assets/banana/result/mesh/material.mtl b/demo_assets/banana/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/banana/result/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/demo_assets/banana/result/mesh/material_0.png b/demo_assets/banana/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef3fbdbc0653f458013379bd8bc97ca67606d73
--- /dev/null
+++ b/demo_assets/banana/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67294e884a73cc3ab1ddebaac0a6c65bd06369095b246dc1fd9699e9951b999a
+size 1273647
diff --git a/demo_assets/banana/result/video.mp4 b/demo_assets/banana/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d922db750b3f87ceaf029813c0506d89d730325
--- /dev/null
+++ b/demo_assets/banana/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafaf92978adf86b2cebbc808fca64ff13f93802508da1f46e8bac209013d2d3
+size 131080
diff --git a/demo_assets/book/result/book.urdf b/demo_assets/book/result/book.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e558d781726a30cd4f79d7e3b3043a1e0f6ba127
--- /dev/null
+++ b/demo_assets/book/result/book.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="book">
+   <link name="book">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/book.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/book_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.209926</scale>
+         <version>v0.1.4</version>
+         <category>book</category>
+         <description>thick hardcover book with red binding and white pages</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20250920033352</generate_time>
+         <gs_model>mesh/book_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.807671546936035</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/book/result/mesh/book.glb b/demo_assets/book/result/mesh/book.glb
new file mode 100644
index 0000000000000000000000000000000000000000..81dd77fc9cbb8eb9006f70910cdddd5e52beb626
--- /dev/null
+++ b/demo_assets/book/result/mesh/book.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95eb62ffdc2345897e5f9339c476cb0f9f13c3b80af2a822f2415d5837acdba4
+size 1844844
diff --git a/demo_assets/book/result/mesh/book.obj b/demo_assets/book/result/mesh/book.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d3b23501800a456775ea45dab1d78b1db3ef83
--- /dev/null
+++ b/demo_assets/book/result/mesh/book.obj
@@ -0,0 +1,47608 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.06364219 -0.01206077 0.02613222
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diff --git a/demo_assets/book/result/mesh/book_collision.obj b/demo_assets/book/result/mesh/book_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1700e69eefaa7eb94e5ad5c8a6d38eb42d889be
--- /dev/null
+++ b/demo_assets/book/result/mesh/book_collision.obj
@@ -0,0 +1,1899 @@
+# https://github.com/mikedh/trimesh
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diff --git a/demo_assets/book/result/mesh/material.mtl b/demo_assets/book/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/book/result/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/demo_assets/book/result/mesh/material_0.png b/demo_assets/book/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fa173928930c4b169a2a11bdcf2a5413b6e4878
--- /dev/null
+++ b/demo_assets/book/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf96214e49117b1aca2c95c0f37bc04c3e7351ce939872510e267c618bdf8c4
+size 1323286
diff --git a/demo_assets/book/result/video.mp4 b/demo_assets/book/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0470296cc22823fb62cb030c0a586ccc000a72db
--- /dev/null
+++ b/demo_assets/book/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aeab50e362c70255ed43d1fc6dd418188b7542993cb9f24af5a83eda9f32ca0
+size 222945
diff --git a/demo_assets/lamp/result/lamp.urdf b/demo_assets/lamp/result/lamp.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..afb4ec0a34da85f56b9a47873a83518433f63d52
--- /dev/null
+++ b/demo_assets/lamp/result/lamp.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="lamp">
+   <link name="lamp">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/lamp.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/lamp_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.7500" />
+         <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>0.500000</scale>
+         <version>v0.1.4</version>
+         <category>lamp</category>
+         <description>modern table lamp with cylindrical shade and sturdy base</description>
+         <min_height>0.45</min_height>
+         <max_height>0.55</max_height>
+         <real_height>0.5</real_height>
+         <min_mass>2.0</min_mass>
+         <max_mass>3.5</max_mass>
+         <generate_time>20250920032745</generate_time>
+         <gs_model>mesh/lamp_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.745218992233276</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/lamp/result/mesh/lamp.glb b/demo_assets/lamp/result/mesh/lamp.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4eaead23083442fcaadfd10acfb4ed7537c2fad0
--- /dev/null
+++ b/demo_assets/lamp/result/mesh/lamp.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6833ee1f1289efed096383b73f659a693777411014c93ba70c31f33f9c6fbd34
+size 1217916
diff --git a/demo_assets/lamp/result/mesh/lamp.obj b/demo_assets/lamp/result/mesh/lamp.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b564012e83693fb2fcb9f310085a137e32319346
--- /dev/null
+++ b/demo_assets/lamp/result/mesh/lamp.obj
@@ -0,0 +1,58546 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.12780154 0.05801260 0.02008706
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diff --git a/demo_assets/lamp/result/mesh/lamp_collision.obj b/demo_assets/lamp/result/mesh/lamp_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd4f0580002cd16ffdda5df90115537da2370ef
--- /dev/null
+++ b/demo_assets/lamp/result/mesh/lamp_collision.obj
@@ -0,0 +1,19898 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/demo_assets/lamp/result/mesh/material.mtl b/demo_assets/lamp/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/lamp/result/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/demo_assets/lamp/result/mesh/material_0.png b/demo_assets/lamp/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f959a87046b1d382614e80b28648b24d24b288d7
--- /dev/null
+++ b/demo_assets/lamp/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f81bb880f5ac2b0b3ebe7bdd59084a38b29ef13b669cafee2d3601e867b10d
+size 578863
diff --git a/demo_assets/lamp/result/video.mp4 b/demo_assets/lamp/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..447cb2ceac1b8585987cd74f8d008dbc3d63c5be
--- /dev/null
+++ b/demo_assets/lamp/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b213457a4013bd7d57ee1494725d231eb1093339e2c5f189d75f0955a71602e4
+size 124724
diff --git a/demo_assets/mug/result/mesh/material.mtl b/demo_assets/mug/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/mug/result/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/demo_assets/mug/result/mesh/material_0.png b/demo_assets/mug/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6af5679b6a67a423c8c1995bb1aa6bbfc9154047
--- /dev/null
+++ b/demo_assets/mug/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0df07f5648fc8f9d824f6f5037274dd1a3d6dbe90289222c525307314aec7b
+size 1173895
diff --git a/demo_assets/mug/result/mesh/mug.glb b/demo_assets/mug/result/mesh/mug.glb
new file mode 100644
index 0000000000000000000000000000000000000000..59571f99153a827c802fac443be916cd09793abd
--- /dev/null
+++ b/demo_assets/mug/result/mesh/mug.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6639ac4f6e54ecd472568bb22ca605796051348061785ce0dde9e37cb0a138a
+size 2054492
diff --git a/demo_assets/mug/result/mesh/mug.obj b/demo_assets/mug/result/mesh/mug.obj
new file mode 100644
index 0000000000000000000000000000000000000000..148484f2ee1f92bbd54453b1c1e6f85b2282aa52
--- /dev/null
+++ b/demo_assets/mug/result/mesh/mug.obj
@@ -0,0 +1,80224 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.00232083 -0.05408913 0.01895091
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diff --git a/demo_assets/mug/result/mesh/mug_collision.obj b/demo_assets/mug/result/mesh/mug_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b6d0d81b314fa28c91eccd5b05b15e2e26342f
--- /dev/null
+++ b/demo_assets/mug/result/mesh/mug_collision.obj
@@ -0,0 +1,38084 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/demo_assets/mug/result/mug.urdf b/demo_assets/mug/result/mug.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9004a36c5a37b1f42d78237a8b7dc77892abf282
--- /dev/null
+++ b/demo_assets/mug/result/mug.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mug">
+   <link name="mug">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mug.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/mug_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.141175</scale>
+         <version>v0.1.4</version>
+         <category>mug</category>
+         <description>simple blue ceramic mug with curved handle</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20250920062947</generate_time>
+         <gs_model>mesh/mug_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.886993408203125</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/mug/result/video.mp4 b/demo_assets/mug/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d03d2d46afe8884bf12065e0ff2069771def3504
--- /dev/null
+++ b/demo_assets/mug/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e155e2e0158cccc4b9864eda59bdd3a61f3ab8dda08e494fd2caed0847a21136
+size 236154
diff --git a/demo_assets/remote_control/result/mesh/material.mtl b/demo_assets/remote_control/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/remote_control/result/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/demo_assets/remote_control/result/mesh/material_0.png b/demo_assets/remote_control/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0cbf0a41cc187ca291e9e8514ea3d4e825ffd7d
--- /dev/null
+++ b/demo_assets/remote_control/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc3237c4986c7ef471f03e8e48ef4dcd346426c2bf2e435b3d0ff61cee44200
+size 513045
diff --git a/demo_assets/remote_control/result/mesh/remote_control.glb b/demo_assets/remote_control/result/mesh/remote_control.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca6e6d4ed355b27058e41cae95311ac1500a7344
--- /dev/null
+++ b/demo_assets/remote_control/result/mesh/remote_control.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a884722dcbcdc253e78cc4c89ba163bb1513f4dcd7f56748347ad463a1bcfef7
+size 838624
diff --git a/demo_assets/remote_control/result/mesh/remote_control.obj b/demo_assets/remote_control/result/mesh/remote_control.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864ce114373f8b238d8cac68b0f2b20ccfba8b2f
--- /dev/null
+++ b/demo_assets/remote_control/result/mesh/remote_control.obj
@@ -0,0 +1,29894 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00170367 0.00692769 0.00907860
+v 0.00192927 0.00689994 0.00825928
+v 0.00188833 0.00686719 0.00868222
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+v 0.00031490 0.00685131 0.01896016
+v 0.00043297 0.00681469 0.01844837
+v -0.01664255 0.00642027 0.00849522
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+v -0.01633533 0.00648168 0.00879866
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+v 0.00629219 -0.01019362 0.04586250
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+v 0.00454717 -0.01019955 0.03936543
+v 0.00623760 -0.01019068 0.03348715
+v 0.01017158 -0.01018491 0.02768987
+v 0.01466540 -0.01016948 0.03426069
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diff --git a/demo_assets/remote_control/result/mesh/remote_control_collision.obj b/demo_assets/remote_control/result/mesh/remote_control_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0d7fbfc0c3f96050f12d7f3e311fd98f427b60
--- /dev/null
+++ b/demo_assets/remote_control/result/mesh/remote_control_collision.obj
@@ -0,0 +1,5482 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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+
diff --git a/demo_assets/remote_control/result/remote_control.urdf b/demo_assets/remote_control/result/remote_control.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e18ac2c9973b8d9a12adb6d5d8cd4a0aba443cd1
--- /dev/null
+++ b/demo_assets/remote_control/result/remote_control.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="remote_control">
+   <link name="remote_control">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/remote_control.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/remote_control_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>0.147331</scale>
+         <version>v0.1.4</version>
+         <category>remote control</category>
+         <description>sleek black remote control with visible buttons and compact design</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <generate_time>20250920062529</generate_time>
+         <gs_model>mesh/remote_control_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.645834684371948</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/remote_control/result/video.mp4 b/demo_assets/remote_control/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d58b1b1a01e0a063751d3f0af1b4ea04a4d2a08
--- /dev/null
+++ b/demo_assets/remote_control/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11bf21470222850f53a6ece015c119e72583aa4b99e4daf5eecd08d72255983b
+size 143986
diff --git a/demo_assets/rubik's_cube/result/mesh/material.mtl b/demo_assets/rubik's_cube/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/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/demo_assets/rubik's_cube/result/mesh/material_0.png b/demo_assets/rubik's_cube/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62715fed529adf3daf1ea17763d3b252d4915bba
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e22904e6ed1cf431f38683f3d72715740ee3522e90e60683bbb7a97bb0556c
+size 2094856
diff --git a/demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb b/demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb
new file mode 100644
index 0000000000000000000000000000000000000000..935e7b4715633ef09287793d22f84c93abab72a1
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/mesh/rubik's_cube.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec069d83015b3ab76cb47dc2202f7e6dca69408155efe079a1bb8c1e4cfd682e
+size 3602092
diff --git a/demo_assets/rubik's_cube/result/mesh/rubik's_cube.obj b/demo_assets/rubik's_cube/result/mesh/rubik's_cube.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15146911d62dbcc1fd03f7f6808babbd921e020e
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/mesh/rubik's_cube.obj
@@ -0,0 +1,139652 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01628447 0.01095302 0.00986419
+v 0.01578621 0.01091932 0.00981624
+v 0.01616114 0.01088308 0.01014267
+v 0.01578621 0.01091932 0.00981624
+v 0.01628447 0.01095302 0.00986419
+v 0.01605952 0.01085848 0.00991562
+v 0.01616114 0.01088308 0.01014267
+v -0.00936804 0.01075032 0.01587947
+v -0.00926294 0.01079882 0.01586406
+v -0.00929067 0.01075300 0.01460350
+v -0.00939438 0.01077868 0.01479691
+v -0.00929067 0.01075300 0.01460350
+v -0.00926294 0.01079882 0.01586406
+v -0.00939438 0.01077868 0.01479691
+v -0.00936804 0.01075032 0.01587947
+v 0.00811033 0.01096523 -0.01024273
+v 0.00784097 0.01097274 -0.01032681
+v 0.00813032 0.01116201 -0.01009909
+v 0.00770943 0.01139321 -0.01029250
+v 0.00784097 0.01097274 -0.01032681
+v 0.00811033 0.01096523 -0.01024273
+v 0.00770943 0.01139321 -0.01029250
+v 0.00813032 0.01116201 -0.01009909
+v -0.02994172 0.01150371 -0.02795888
+v -0.02992588 0.01149415 -0.02097111
+v -0.02995416 0.01148482 -0.02694045
+v -0.01912159 0.00795066 0.00944143
+v -0.01906499 0.00795486 0.00927012
+v -0.01818529 0.00820407 0.00922958
+v -0.01139134 0.01648741 -0.01015264
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+
diff --git a/demo_assets/rubik's_cube/result/mesh/rubik's_cube_collision.obj b/demo_assets/rubik's_cube/result/mesh/rubik's_cube_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc236a26f0f1cfed56425241d66edf6f57b7c4c9
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/mesh/rubik's_cube_collision.obj
@@ -0,0 +1,10902 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.02518446 0.00640149 0.03015827
+v 0.02617062 0.00541029 0.03015424
+v 0.02617062 0.00640149 0.03015424
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diff --git a/demo_assets/rubik's_cube/result/rubik's_cube.urdf b/demo_assets/rubik's_cube/result/rubik's_cube.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df5dbd933f49ffef14216b4f65763afaa43c9b51
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/rubik's_cube.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="rubik's_cube">
+   <link name="rubik's_cube">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/rubik's_cube.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/rubik's_cube_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <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>0.060038</scale>
+         <version>v0.1.4</version>
+         <category>puzzle cube</category>
+         <description>colorful 3x3 cube with glossy surface and vibrant patterns</description>
+         <min_height>0.05</min_height>
+         <max_height>0.07</max_height>
+         <real_height>0.06</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20250923174228</generate_time>
+         <gs_model>mesh/sample3d_0_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: overlapping geometry between tiles is visible.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.322659492492676</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/rubik's_cube/result/video.mp4 b/demo_assets/rubik's_cube/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba982b0520f97604c512b305d8d8ffff27ccd4b0
--- /dev/null
+++ b/demo_assets/rubik's_cube/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c709cb29b3ac601c50a52214d65eed526c33a07680c999ff26da8016e045fda
+size 545716
diff --git a/demo_assets/table/result/mesh/material.mtl b/demo_assets/table/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/table/result/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/demo_assets/table/result/mesh/material_0.png b/demo_assets/table/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1b4f4d000a9f7842225a48f3f8def12c2c4dce2
--- /dev/null
+++ b/demo_assets/table/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e16271f3158314da34bcdeeeead7d4abdcbbbfd72cef23d1e0928a71cdc5b7
+size 1000364
diff --git a/demo_assets/table/result/mesh/table.glb b/demo_assets/table/result/mesh/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1700c5d5ea9592a8263c6a07195895392b9e63d1
--- /dev/null
+++ b/demo_assets/table/result/mesh/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3337d31e613a117c913fddf7096a9fadc3ba8ee7bf5789a0c7520539d7ba86d7
+size 1526432
diff --git a/demo_assets/table/result/mesh/table.obj b/demo_assets/table/result/mesh/table.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb642ab0298b6bf4935bb16c7a902a7c91ab6a23
--- /dev/null
+++ b/demo_assets/table/result/mesh/table.obj
@@ -0,0 +1,48174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.28034002 -0.14130903 -0.12445081
+v 0.28348309 -0.13167633 -0.12704488
+v 0.28591372 -0.12316347 -0.13810319
+v 0.28485826 -0.12204065 -0.16332215
+v 0.28541412 -0.12546832 -0.16840601
+v 0.28163160 -0.13208431 -0.16283479
+v 0.27521574 -0.14782391 -0.34443117
+v 0.26724481 -0.15411860 -0.35608371
+v 0.26808107 -0.15411116 -0.34098186
+v 0.27970650 -0.14618502 -0.42762885
+v 0.28660101 -0.14904030 -0.45054300
+v 0.27355575 -0.15224541 -0.44597047
+v 0.26432970 -0.15054258 -0.55456410
+v 0.26449220 -0.15401718 -0.55080896
+v 0.26433332 -0.15070498 -0.55322563
+v 0.30107921 0.07408815 0.01017710
+v 0.30125925 0.03885497 0.01138878
+v 0.30116411 0.05352847 -0.03582769
+v 0.30115325 0.06296657 0.04592643
+v 0.30129788 0.02788593 0.03374291
+v 0.30127644 0.04953109 0.07096528
+v 0.30112763 0.08300442 0.08291466
+v 0.30125819 0.05809656 0.09288123
+v 0.30132573 0.05515862 0.11449787
+v 0.30142710 0.02915126 0.13114865
+v 0.30138043 0.05438967 0.16092459
+v 0.30148523 0.02632515 0.18723854
+v 0.30157973 0.01366590 0.22757459
+v 0.30147468 0.00267261 0.21503959
+v 0.30138198 0.02430713 0.08695343
+v 0.30141941 0.00951101 0.10538636
+v 0.30130994 0.01080622 0.04018803
+v 0.30126539 0.02497297 -0.02598037
+v 0.30124631 0.01170833 -0.04575681
+v 0.30123540 0.03323787 -0.07276251
+v 0.30121198 0.00939209 -0.08527440
+v 0.30104185 0.07402106 -0.06818516
+v 0.30102844 0.06255997 -0.10149049
+v 0.30097521 0.07326137 -0.15849890
+v 0.30107028 0.05435392 -0.15533078
+v 0.30111993 0.02996929 -0.11767653
+v 0.30116618 0.03808542 -0.08939928
+v 0.30105774 0.00260044 -0.12816790
+v 0.30119321 0.02871420 -0.17775880
+v 0.30113033 0.02686350 -0.14360088
+v 0.30115466 0.01073437 -0.15085516
+v 0.30116014 0.05629135 -0.18974896
+v 0.30091414 0.10102922 -0.14467726
+v 0.30093226 0.08455385 -0.12280679
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diff --git a/demo_assets/table/result/mesh/table_collision.obj b/demo_assets/table/result/mesh/table_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483705f35d0b6289b021abafcf62aefc573ce4fb
--- /dev/null
+++ b/demo_assets/table/result/mesh/table_collision.obj
@@ -0,0 +1,4902 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/demo_assets/table/result/table.urdf b/demo_assets/table/result/table.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6071c62c942e8c9a0943e3ea04514b1a7807484c
--- /dev/null
+++ b/demo_assets/table/result/table.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table">
+   <link name="table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table.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/table_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="20.0000" />
+         <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>1.331843</scale>
+         <version>v0.1.4</version>
+         <category>table</category>
+         <description>rectangular table with green body and wooden legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20250920014054</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.653068780899048</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/table/result/video.mp4 b/demo_assets/table/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40f2e3dd34c20d2b01ff7ff8f24ce1927735c662
--- /dev/null
+++ b/demo_assets/table/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74778abd02a7635db0fe30f09e28f168d0ad8ae929b40019bde8384f84ff3b1f
+size 163966
diff --git a/demo_assets/vase/result/mesh/material.mtl b/demo_assets/vase/result/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/demo_assets/vase/result/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/demo_assets/vase/result/mesh/material_0.png b/demo_assets/vase/result/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9be2d5110f4d0576c9f438918e428b3973eb2ff
--- /dev/null
+++ b/demo_assets/vase/result/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0c7dc686ed0e543b07a4a740e1c488ffb2a9d80144dd92aa2220484ba917cd
+size 2362559
diff --git a/demo_assets/vase/result/mesh/vase.glb b/demo_assets/vase/result/mesh/vase.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a3fb10242e19bff42b2a0ac22ade252e70ca16d8
--- /dev/null
+++ b/demo_assets/vase/result/mesh/vase.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ffffff61020d63d5a80e5a13e12c0b2d0321b00072f3ec32109a40baa02f73
+size 2946976
diff --git a/demo_assets/vase/result/mesh/vase.obj b/demo_assets/vase/result/mesh/vase.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df65c442fec63413fb954f13de4a660baad71d94
--- /dev/null
+++ b/demo_assets/vase/result/mesh/vase.obj
@@ -0,0 +1,53257 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/demo_assets/vase/result/mesh/vase_collision.obj b/demo_assets/vase/result/mesh/vase_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85296893d80dd964279b8683f5742a37d7543278
--- /dev/null
+++ b/demo_assets/vase/result/mesh/vase_collision.obj
@@ -0,0 +1,27273 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/demo_assets/vase/result/vase.urdf b/demo_assets/vase/result/vase.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d3a8bba077df54d2a8d373dd83cffd2498cf59ae
--- /dev/null
+++ b/demo_assets/vase/result/vase.urdf
@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="vase">
+   <link name="vase">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/vase.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/vase_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.6000" />
+         <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>0.300000</scale>
+         <version>v0.1.4</version>
+         <category>vase</category>
+         <description>blue ceramic vase with white floral patterns</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>1.2</min_mass>
+         <max_mass>2.0</max_mass>
+         <generate_time>20250923174525</generate_time>
+         <gs_model>mesh/sample3d_1_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.19463038444519</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/demo_assets/vase/result/video.mp4 b/demo_assets/vase/result/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..242e2c92ef6dee4c5f5c27dd6609b0af21008787
--- /dev/null
+++ b/demo_assets/vase/result/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a571fef41c6644374d4f6bb120e11ac4701a6af3529bb40780e80ccfb7110e3
+size 193097