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dataset/apple/sample3d_0/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic red apple with stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116135606</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.645759582519531</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_1/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.090000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>smooth yellow apple with a short brown stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.1</max_height>
+         <real_height>0.09</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116135953</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.002590656280518</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_10/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic red apple with yellow gradient and visible stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116144436</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.568439483642578</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_11/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.30</mu1>
+            <mu2>0.20</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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic red apple with stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116145031</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.576573371887207</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_2/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.090000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic yellow apple with red streaks and a brown stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.1</max_height>
+         <real_height>0.09</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116140401</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.048335075378418</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_3/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.101920</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>smooth yellow apple with rounded shape</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116140752</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.139925956726074</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_4/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic red-yellow apple with stem and water droplets</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116141140</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.513912677764893</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_5/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic yellow apple with red blush and green leaf</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116141549</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.287238597869873</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_6/result/apple.urdf

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+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>red apple with yellow patch and visible stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116142214</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The apple has missing and broken geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.405702114105225</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_7/result/apple.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>red apple with bite mark and visible stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116143031</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The apple has a large missing section.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.098400115966797</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_8/result/apple.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic 3d apple with smooth surface and vibrant red-yellow gradient</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116143635</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.544231414794922</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/apple/sample3d_9/result/apple.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="apple">
+   <link name="apple">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/apple.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/apple_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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>apple</category>
+         <description>realistic red apple with a brown stem</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260116144032</generate_time>
+         <gs_model>mesh/apple_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.454843997955322</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_0/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>0.324209</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with green stem and brown tip</description>
+         <min_height>0.059</min_height>
+         <max_height>0.088</max_height>
+         <real_height>0.073</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116150107</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.357939720153809</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_1/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="0.1600" />
+         <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>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>realistic yellow banana with green tip and brown stem</description>
+         <min_height>0.082</min_height>
+         <max_height>0.082</max_height>
+         <real_height>0.082</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116150443</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6294121742248535</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_10/result/banana.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.60</mu1>
+            <mu2>0.40</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>0.148326</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with brown tips</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116153517</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.24774169921875</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_11/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>0.30</mu1>
+            <mu2>0.20</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>0.391084</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with brown stem and green tip</description>
+         <min_height>0.073</min_height>
+         <max_height>0.098</max_height>
+         <real_height>0.085</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116153751</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.685409069061279</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_12/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>0.25</mu1>
+            <mu2>0.20</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>0.289964</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with green stem and brown tip</description>
+         <min_height>0.059</min_height>
+         <max_height>0.088</max_height>
+         <real_height>0.073</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116154033</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The banana geometry is incomplete and truncated at the bottom.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.368651390075684</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_2/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>0.60</mu1>
+            <mu2>0.40</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>0.394110</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>ripe yellow banana with brown spots and curved shape</description>
+         <min_height>0.073</min_height>
+         <max_height>0.098</max_height>
+         <real_height>0.085</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116150730</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.637740612030029</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_3/result/banana.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.60</mu1>
+            <mu2>0.40</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>0.130043</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>ripe yellow banana with brown spots and curved shape</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116151026</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears flattened and structurally incorrect for a banana.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.201952934265137</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_4/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>0.60</mu1>
+            <mu2>0.40</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>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>realistic yellow banana with visible peel and curved shape</description>
+         <min_height>0.066</min_height>
+         <max_height>0.066</max_height>
+         <real_height>0.066</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116151333</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The banana is sliced, not a single complete instance.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.095046520233154</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_5/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>0.60</mu1>
+            <mu2>0.40</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>0.381539</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>realistic yellow banana with green stem and brown tip</description>
+         <min_height>0.059</min_height>
+         <max_height>0.088</max_height>
+         <real_height>0.073</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116151618</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.459728240966797</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_6/result/banana.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.25</mu1>
+            <mu2>0.20</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>0.136561</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with green stem and brown tip</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116151852</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.545599937438965</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_7/result/banana.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.60</mu1>
+            <mu2>0.40</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>0.130592</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>realistic yellow banana with green stem and brown tip</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116152656</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: The object appears truncated and incomplete.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.581948757171631</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_8/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>0.60</mu1>
+            <mu2>0.40</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>0.652743</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>realistic yellow banana with brown stem and smooth surface</description>
+         <min_height>0.073</min_height>
+         <max_height>0.098</max_height>
+         <real_height>0.085</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116152952</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.046523571014404</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/banana/sample3d_9/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>0.387371</scale>
+         <version>v0.1.7</version>
+         <category>banana</category>
+         <description>curved yellow banana with visible stem and smooth surface</description>
+         <min_height>0.059</min_height>
+         <max_height>0.088</max_height>
+         <real_height>0.073</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116153243</generate_time>
+         <gs_model>mesh/banana_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.479113578796387</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_0/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.366903</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven cylindrical basket with textured surface and rounded edges</description>
+         <min_height>0.108</min_height>
+         <max_height>0.144</max_height>
+         <real_height>0.126</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116155052</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.568690299987793</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_1/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.492575</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven basket with tapered base and rounded rim</description>
+         <min_height>0.180</min_height>
+         <max_height>0.252</max_height>
+         <real_height>0.216</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116155416</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.789575576782227</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_2/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.482766</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>orange woven basket with rectangular shape and sturdy handle</description>
+         <min_height>0.180</min_height>
+         <max_height>0.252</max_height>
+         <real_height>0.216</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260116155855</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.42422342300415</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_3/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.311730</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>decorative basket with flowers, ribbons, and a curved handle</description>
+         <min_height>0.250</min_height>
+         <max_height>0.350</max_height>
+         <real_height>0.300</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116160319</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.38040018081665</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_4/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>0.373321</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>colorful woven basket with a curved handle</description>
+         <min_height>0.300</min_height>
+         <max_height>0.400</max_height>
+         <real_height>0.350</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260116160736</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.783598899841309</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_5/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.400000</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>wooden basket with curved handle and woven texture</description>
+         <min_height>0.315</min_height>
+         <max_height>0.405</max_height>
+         <real_height>0.360</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260116162418</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Bottom geometry appears incomplete or damaged.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.5639967918396</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_6/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <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>0.442490</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven wooden basket with two curved handles</description>
+         <min_height>0.180</min_height>
+         <max_height>0.252</max_height>
+         <real_height>0.216</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260116162817</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.897802829742432</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_7/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.368440</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>green perforated plastic basket with circular base and flared top</description>
+         <min_height>0.180</min_height>
+         <max_height>0.252</max_height>
+         <real_height>0.216</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116163210</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.840789318084717</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basket/sample3d_8/result/basket.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="basket">
+   <link name="basket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/basket.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/basket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.377699</scale>
+         <version>v0.1.7</version>
+         <category>basket</category>
+         <description>woven rectangular basket with rounded edges and flat base</description>
+         <min_height>0.072</min_height>
+         <max_height>0.108</max_height>
+         <real_height>0.090</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116163552</generate_time>
+         <gs_model>mesh/basket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.121373176574707</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_0/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000"/>
+         <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>0.185130</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>matte black cylindrical jar with flat base and rounded edges</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.2</max_mass>
+         <generate_time>20260116163923</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.8456010818481445</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_1/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000"/>
+         <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>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>matte black cylindrical jar with threaded lid</description>
+         <min_height>0.15</min_height>
+         <max_height>0.2</max_height>
+         <real_height>0.175</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116164300</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.331195831298828</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_2/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000"/>
+         <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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>cylindrical black jar with threaded lid and smooth surface</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116165319</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.298619270324707</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_3/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500"/>
+         <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>0.171717</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>matte black cylindrical jar with threaded lid</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>0.6</max_mass>
+         <generate_time>20260116165657</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.439292907714844</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_4/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000"/>
+         <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>0.330094</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>matte black jar with tapered body and wide rim</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116170044</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.270308971405029</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_5/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000"/>
+         <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>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>cylindrical black jar with threaded lid</description>
+         <min_height>0.18</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.215</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116171340</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.355671405792236</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_jar/sample3d_6/result/black_jar.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_jar">
+   <link name="black_jar">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_jar.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/black_jar_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000"/>
+         <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>0.150000</scale>
+         <version>v0.1.7</version>
+         <category>black jar</category>
+         <description>cylindrical black jar with rounded base and flat lid</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260116171708</generate_time>
+         <gs_model>mesh/black_jar_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.292381286621094</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_0/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.117668</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black wireless mouse with ergonomic design</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116172038</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.571412086486816</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_1/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.139292</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek ergonomic black mouse with smooth curves and buttons</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116172330</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.575422286987305</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_10/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.172114</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black computer mouse with ergonomic design</description>
+         <min_height>0.035</min_height>
+         <max_height>0.045</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116180216</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.489483833312988</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_11/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.136799</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black computer mouse with ergonomic design</description>
+         <min_height>0.035</min_height>
+         <max_height>0.045</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116181514</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.605319499969482</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_2/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>ergonomic black mouse with curved design and smooth surface</description>
+         <min_height>0.070</min_height>
+         <max_height>0.070</max_height>
+         <real_height>0.070</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260116173149</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.950150489807129</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_3/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.121452</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black computer mouse with ergonomic design</description>
+         <min_height>0.035</min_height>
+         <max_height>0.045</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116173452</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.503556728363037</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_4/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.138835</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>ergonomic black mouse with orange accents and smooth curved design</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116173814</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.81906795501709</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_5/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.172959</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black wireless mouse with curved ergonomic design</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116174434</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6142401695251465</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/black_mouse/sample3d_6/result/black_mouse.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="black_mouse">
+   <link name="black_mouse">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/black_mouse.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/black_mouse_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150"/>
+         <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>0.154545</scale>
+         <version>v0.1.7</version>
+         <category>black mouse</category>
+         <description>sleek black mouse with orange top and wired connection</description>
+         <min_height>0.035</min_height>
+         <max_height>0.045</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260116174855</generate_time>
+         <gs_model>mesh/black_mouse_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.565166473388672</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>