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.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

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>

demo_assets/banana/result/mesh/banana.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97c5f620e1ca009769dc127df8391d9483899530e01abeca1efe4b179fb4774
+size 1505608

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

demo_assets/banana/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafaf92978adf86b2cebbc808fca64ff13f93802508da1f46e8bac209013d2d3
+size 131080

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>

demo_assets/book/result/mesh/book.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95eb62ffdc2345897e5f9339c476cb0f9f13c3b80af2a822f2415d5837acdba4
+size 1844844

demo_assets/book/result/mesh/book_collision.obj

@@ -0,0 +1,1899 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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+f 627 634 628
+f 631 633 635
+f 631 635 632
+

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

demo_assets/book/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aeab50e362c70255ed43d1fc6dd418188b7542993cb9f24af5a83eda9f32ca0
+size 222945

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>

demo_assets/lamp/result/mesh/lamp.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6833ee1f1289efed096383b73f659a693777411014c93ba70c31f33f9c6fbd34
+size 1217916

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

demo_assets/lamp/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b213457a4013bd7d57ee1494725d231eb1093339e2c5f189d75f0955a71602e4
+size 124724

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

demo_assets/mug/result/mesh/mug.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6639ac4f6e54ecd472568bb22ca605796051348061785ce0dde9e37cb0a138a
+size 2054492

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>

demo_assets/mug/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e155e2e0158cccc4b9864eda59bdd3a61f3ab8dda08e494fd2caed0847a21136
+size 236154

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

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

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>

demo_assets/remote_control/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11bf21470222850f53a6ece015c119e72583aa4b99e4daf5eecd08d72255983b
+size 143986

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

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

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>

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

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

demo_assets/table/result/mesh/table.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3337d31e613a117c913fddf7096a9fadc3ba8ee7bf5789a0c7520539d7ba86d7
+size 1526432

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>

demo_assets/table/result/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74778abd02a7635db0fe30f09e28f168d0ad8ae929b40019bde8384f84ff3b1f
+size 163966