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dataset/basic_furniture/table/0033f5a78e7f5843a139ea446f8b8bbd/0033f5a78e7f5843a139ea446f8b8bbd.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_patterned_table">
+   <link name="wooden_patterned_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_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/wooden_patterned_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>1.409463</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with patterned surface and four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009040511</generate_time>
+         <gs_model>mesh/wooden_patterned_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.934572339057922</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/0a3e25e9476e5d929e41458d50117196/0a3e25e9476e5d929e41458d50117196.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</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>1.507368</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with four cylindrical legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006024254</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.919968605041504</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/126f60baf12759ea957fb6c38ba7458d/126f60baf12759ea957fb6c38ba7458d.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_patterned_table">
+   <link name="wooden_patterned_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_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/wooden_patterned_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.327314</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four cylindrical legs and smooth patterned surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005001048</generate_time>
+         <gs_model>mesh/wooden_patterned_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.08107602596283</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/1522dad65f0859758dad5636ba348bf8/1522dad65f0859758dad5636ba348bf8.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.736570</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005070623</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.976998567581177</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/15a7e77c27c3515c8adb5e22c67584bb/15a7e77c27c3515c8adb5e22c67584bb.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</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>1.476362</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>round wooden table with four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009054118</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.889656662940979</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/16b602cfd8285027af606f20aaadc739/16b602cfd8285027af606f20aaadc739.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>

dataset/basic_furniture/table/17fde0add43752449698e861bee0892c/17fde0add43752449698e861bee0892c.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_striped_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/wooden_striped_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.711006</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped surface and four tapered legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005073053</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.842318177223206</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/18848428c54456aa82070f2fd33f7bb4/18848428c54456aa82070f2fd33f7bb4.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_oak_table">
+   <link name="wooden_oak_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_oak_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/wooden_oak_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000"/>
+         <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>1.331356</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden oak table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251006053834</generate_time>
+         <gs_model>mesh/wooden_oak_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.161008954048157</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/206d7c2430cf5357bc2c176239fca0ac/206d7c2430cf5357bc2c176239fca0ac.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="10.0000"/>
+         <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>1.034531</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with rectangular top and four sturdy legs</description>
+         <min_height>0.4</min_height>
+         <max_height>0.5</max_height>
+         <real_height>0.45</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <generate_time>20251006054450</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.964805722236633</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/297e090d29465bd7b7de394e836087e7/297e090d29465bd7b7de394e836087e7.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_pine_table">
+   <link name="wooden_pine_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_pine_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/wooden_pine_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>0.991630</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs and flat top surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006024751</generate_time>
+         <gs_model>mesh/wooden_pine_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.01018750667572</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/29b7e6a9d1ea58db89451de4beeb8ea3/29b7e6a9d1ea58db89451de4beeb8ea3.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</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>1.384258</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden oval table with four slender 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>20251012000046</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.7831538915634155</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/2a842458f7855996b2183eb6253166be/2a842458f7855996b2183eb6253166be.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_striped_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/wooden_striped_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000"/>
+         <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>1.484438</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with vertical striped legs and polished surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251009092456</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.217182159423828</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/31326f5a0f095e99bd51f854101910d7/31326f5a0f095e99bd51f854101910d7.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</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>1.036355</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden round table with four vertical 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>20251011203743</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.976165413856506</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/323146e9523f587889bb0ff48e23af40/323146e9523f587889bb0ff48e23af40.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_patterned_table">
+   <link name="wooden_patterned_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_patterned_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/wooden_patterned_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>1.316722</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with curved legs and smooth patterned surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009011348</generate_time>
+         <gs_model>mesh/wooden_patterned_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.918173670768738</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/339bf1697be759f0957b3a00012d12c4/339bf1697be759f0957b3a00012d12c4.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_oak_table">
+   <link name="wooden_oak_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_oak_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/wooden_oak_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.228816</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>circular wooden oak table with four vertical 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>20251006015631</generate_time>
+         <gs_model>mesh/wooden_oak_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.583865284919739</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/38ff14e9904f58e5a36b9e141a8697e2/38ff14e9904f58e5a36b9e141a8697e2.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_oak_table">
+   <link name="wooden_oak_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_oak_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/wooden_oak_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.080114</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>sturdy wooden oak table with rectangular top and four angled legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006100042</generate_time>
+         <gs_model>mesh/wooden_oak_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.423505187034607</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/3e24a90f8a5c5471b6d26a3f95914d43/3e24a90f8a5c5471b6d26a3f95914d43.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_oak_table">
+   <link name="wooden_oak_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_oak_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/wooden_oak_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.057280</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden oak table with curved apron and four tapered legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006015327</generate_time>
+         <gs_model>mesh/wooden_oak_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.172146677970886</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/46a867ba41415c4daaedaf01a0f1d7d0/46a867ba41415c4daaedaf01a0f1d7d0.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_grain_table">
+   <link name="wooden_grain_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_grain_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/wooden_grain_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>1.424543</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four tapered legs and polished surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251011212817</generate_time>
+         <gs_model>mesh/wooden_grain_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.213492155075073</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/4717bea0880b5f2a86ed4c1aa6c5dafc/4717bea0880b5f2a86ed4c1aa6c5dafc.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_striped_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/wooden_striped_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>0.816963</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped texture and four sturdy legs</description>
+         <min_height>0.4</min_height>
+         <max_height>0.5</max_height>
+         <real_height>0.45</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251011172400</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.349570155143738</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/4c9ad6af9c9052958a476b6ae57c9671/4c9ad6af9c9052958a476b6ae57c9671.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.812591</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with four turned legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005041518</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0799630880355835</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/540bb6cb580d5cbc9bd92e0ec3c957d2/540bb6cb580d5cbc9bd92e0ec3c957d2.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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="25.0000"/>
+         <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>1.240409</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with thick legs and flat top surface</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251011210016</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.109184384346008</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/551b4bfb8e2658bdb1add99362b1bf65/551b4bfb8e2658bdb1add99362b1bf65.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="11.5000"/>
+         <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>1.183009</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>red wooden table with four legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251006073603</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</MeshGeoChecker>
+         <ImageSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</ImageSegChecker>
+         <ImageAestheticChecker>5.010873913764954</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/5d593bbc15645b7892847200bec51d36/5d593bbc15645b7892847200bec51d36.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_textured_desk">
+   <link name="wooden_textured_desk">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_textured_desk.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/wooden_textured_desk_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="32.5000"/>
+         <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>1.302413</scale>
+         <version>v0.1.5</version>
+         <category>desk</category>
+         <description>rectangular wooden desk with wheels and simple design</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>25.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251006013015</generate_time>
+         <gs_model>mesh/wooden_textured_desk_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.57142436504364</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/63e070840597536187a226eef53627e7/63e070840597536187a226eef53627e7.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.423962</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006052359</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.192795634269714</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/65745939f97f585490c2f08ce42f510f/65745939f97f585490c2f08ce42f510f.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_grain_desk">
+   <link name="wooden_grain_desk">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_grain_desk.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/wooden_grain_desk_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="32.5000"/>
+         <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>1.670212</scale>
+         <version>v0.1.5</version>
+         <category>desk</category>
+         <description>rectangular wooden desk with storage compartments and flat tabletop</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>25.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251009103315</generate_time>
+         <gs_model>mesh/wooden_grain_desk_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.661416053771973</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/675799d16e505b15bc802f3c5314eb70/675799d16e505b15bc802f3c5314eb70.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_walnut_table">
+   <link name="wooden_walnut_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_walnut_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/wooden_walnut_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000"/>
+         <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>1.631715</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden walnut table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251009075702</generate_time>
+         <gs_model>mesh/wooden_walnut_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.221995830535889</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/6e66a496a6bf5783ba4195d855a4242e/6e66a496a6bf5783ba4195d855a4242e.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.886994</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four legs and flat top surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006042447</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.06231427192688</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/710fc1c383f5542d8f52822fc08ee66c/710fc1c383f5542d8f52822fc08ee66c.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="desk">
+   <link name="desk">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/desk.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/desk_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="32.5000"/>
+         <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>1.528782</scale>
+         <version>v0.1.5</version>
+         <category>desk</category>
+         <description>wooden desk with drawers and flat tabletop</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>25.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251005003153</generate_time>
+         <gs_model>mesh/desk_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Missing geometry and structural damage on one side of the object.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.5979578495025635</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/75ce20f2e4285072a8b9ef8cf789077b/75ce20f2e4285072a8b9ef8cf789077b.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="desk">
+   <link name="desk">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/desk.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/desk_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="30.0000"/>
+         <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>1.298172</scale>
+         <version>v0.1.5</version>
+         <category>desk</category>
+         <description>rectangular wooden desk with flat top and enclosed sides</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251004234410</generate_time>
+         <gs_model>mesh/desk_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.416692733764648</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/781b1b8c58cf5c17b167436ffe664a82/781b1b8c58cf5c17b167436ffe664a82.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="11.5000"/>
+         <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>1.058092</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with four legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251009083854</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9700411558151245</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/79816e1e3f18516190127717ff505efe/79816e1e3f18516190127717ff505efe.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="30.0000"/>
+         <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>1.679103</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with rounded top and solid base structure</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251009012340</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.673230290412903</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/7edbf49a69f25d348bcac72d91413215/7edbf49a69f25d348bcac72d91413215.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_grain_table">
+   <link name="wooden_grain_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_grain_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/wooden_grain_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.060530</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with curved legs and smooth grain finish</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006034755</generate_time>
+         <gs_model>mesh/wooden_grain_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.293670654296875</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/848396479c0b5da3bc05d0ef74d4dcfb/848396479c0b5da3bc05d0ef74d4dcfb.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_pine_table">
+   <link name="wooden_pine_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_pine_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/wooden_pine_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000"/>
+         <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>1.485662</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden pine table with four cylindrical legs and flat tabletop</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251011234245</generate_time>
+         <gs_model>mesh/wooden_pine_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.1667643785476685</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/86d11bf2fc675dc1973f8337a88f365c/86d11bf2fc675dc1973f8337a88f365c.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_grain_desk">
+   <link name="wooden_grain_desk">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_grain_desk.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/wooden_grain_desk_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="30.0000"/>
+         <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>1.308645</scale>
+         <version>v0.1.5</version>
+         <category>desk</category>
+         <description>rectangular wooden desk with smooth grain texture and flat top surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.9</max_height>
+         <real_height>0.8</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>40.0</max_mass>
+         <generate_time>20251009001950</generate_time>
+         <gs_model>mesh/wooden_grain_desk_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: redundant geometry visible at the base, overlapping parts, and structural inconsistencies inside the object.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.436701059341431</ImageAestheticChecker>
+         <overall>NO</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/86f0cbbe2e6250c499ef075c7580b555/86f0cbbe2e6250c499ef075c7580b555.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</mu1>
+            <mu2>0.60</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>1.247558</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with ornate legs and central support structure</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009005036</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.064686417579651</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/87d78067051e57c3858d066d9a17a165/87d78067051e57c3858d066d9a17a165.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</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>1.218152</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with tapered legs</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009111650</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.833953142166138</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/8c58e88be44d50529a88030e3378df3f/8c58e88be44d50529a88030e3378df3f.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.381371</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with four tapered legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006043440</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.150823712348938</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/ae2b63e5da8456a2902262936230b800/ae2b63e5da8456a2902262936230b800.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.882870</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with tapered legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006045248</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.971288681030273</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/b4b40966ebda5393bd4d7fc634062519/b4b40966ebda5393bd4d7fc634062519.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_pine_table">
+   <link name="wooden_pine_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_pine_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/wooden_pine_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.775034</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden pine table with four tapered legs and smooth finish</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006023434</generate_time>
+         <gs_model>mesh/wooden_pine_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.578314781188965</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/b6b0dd6f66465938a67e4fd35d310d06/b6b0dd6f66465938a67e4fd35d310d06.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.309613</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005013135</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.050603985786438</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/b8d64db9206d5a929c86715f6bef4594/b8d64db9206d5a929c86715f6bef4594.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_grain_table">
+   <link name="wooden_grain_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_grain_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/wooden_grain_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>0.912629</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with curved legs and smooth grain texture</description>
+         <min_height>0.45</min_height>
+         <max_height>0.55</max_height>
+         <real_height>0.5</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251012004813</generate_time>
+         <gs_model>mesh/wooden_grain_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.958097338676453</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/c079096d2c9c58bbbde80d48e82c0767/c079096d2c9c58bbbde80d48e82c0767.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="12.5000"/>
+         <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>1.034838</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with four legs and a rectangular top</description>
+         <min_height>0.6</min_height>
+         <max_height>0.75</max_height>
+         <real_height>0.675</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251005060953</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.757479667663574</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/c26e870e9c735cf4b4c0f1db9e24a366/c26e870e9c735cf4b4c0f1db9e24a366.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.613519</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with decorative legs and scalloped apron design</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006061159</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.955474495887756</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/c2884d53e6b950508840fa91aac4d5e5/c2884d53e6b950508840fa91aac4d5e5.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>1.192131</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden table with four legs and a lower support beam</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251006015730</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.365034461021423</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/c5785771301a5cb5ac51f8c6fa73443f/c5785771301a5cb5ac51f8c6fa73443f.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_striped_table">
+   <link name="wooden_striped_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_striped_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/wooden_striped_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>1.400169</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with striped texture and four sturdy legs</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251005234119</generate_time>
+         <gs_model>mesh/wooden_striped_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.369905591011047</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/c6c32200816951b2998904219ef9df5f/c6c32200816951b2998904219ef9df5f.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="11.5000"/>
+         <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>1.279824</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>wooden rectangular table with four legs and flat top surface</description>
+         <min_height>0.45</min_height>
+         <max_height>0.55</max_height>
+         <real_height>0.5</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>15.0</max_mass>
+         <generate_time>20251009002206</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.976495742797852</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/ca0ffde5d1045e34abcad2ca415bfad4/ca0ffde5d1045e34abcad2ca415bfad4.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_oak_table">
+   <link name="wooden_oak_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_oak_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/wooden_oak_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000"/>
+         <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>1.367216</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden oak table with four curved legs and smooth polished surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251009114226</generate_time>
+         <gs_model>mesh/wooden_oak_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.34939169883728</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/da84a94416885e1297939b26c9deb955/da84a94416885e1297939b26c9deb955.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.50</mu1>
+            <mu2>0.40</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>1.423255</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>round wooden table with four legs and central support structure</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251011194509</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6925437450408936</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/dca7a1c32bef546ea350c865c881950e/dca7a1c32bef546ea350c865c881950e.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<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>0.70</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>1.819041</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>elegant wooden table with curved legs and rectangular top</description>
+         <min_height>0.7</min_height>
+         <max_height>0.85</max_height>
+         <real_height>0.775</real_height>
+         <min_mass>15.0</min_mass>
+         <max_mass>25.0</max_mass>
+         <generate_time>20251009025352</generate_time>
+         <gs_model>mesh/table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.864336133003235</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>

dataset/basic_furniture/table/f1af886972b754c7be18017e29d3d969/f1af886972b754c7be18017e29d3d969.urdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<robot name="wooden_walnut_table">
+   <link name="wooden_walnut_table">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0"/>
+         <geometry>
+            <mesh filename="mesh/wooden_walnut_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/wooden_walnut_table_collision.obj" scale="1.0 1.0 1.0"/>
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="25.0000"/>
+         <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>1.180994</scale>
+         <version>v0.1.5</version>
+         <category>table</category>
+         <description>rectangular wooden table with four sturdy legs and a flat top surface</description>
+         <min_height>0.7</min_height>
+         <max_height>0.8</max_height>
+         <real_height>0.75</real_height>
+         <min_mass>20.0</min_mass>
+         <max_mass>30.0</max_mass>
+         <generate_time>20251006021903</generate_time>
+         <gs_model>mesh/wooden_walnut_table_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0505595207214355</ImageAestheticChecker>
+         <overall>YES</overall>
+      </quality>
+   </custom_data>
+</robot>