Asset Generation
- Does the generated asset match the prompt or reference image?
- Are major components represented separately rather than baked into a single mesh?
- Are dimensions editable after generation?
- Are materials assigned sensibly?
- Are soft or curved details represented with modifiers where appropriate?
Articulation
- Are doors, drawers, lids, and knobs grouped correctly?
- Are joint axes correct?
- Are limits reasonable?
- Does the browser preview match the expected physical motion?
- Does the exported simulator preserve the motion?
Physics
- Are rigid bodies present where expected?
- Are collision shapes usable?
- Are masses and inertias populated?
- Do objects remain stable under simulation?
- Are complex shapes decomposed into practical collision geometry?
Export
- Does the USD file open in Isaac Sim?
- Does the MJCF file compile in MuJoCo?
- Does the SDF world load in Gazebo?
- Are textures and meshes included?
- Are joints preserved?
- Are collision, mass, and material settings preserved?
- Does the same scene behave consistently across simulator backends?
- Do embedded robots (if any) appear at the correct base position?
Workflow
- How long does it take to create a usable scene compared with manual authoring?
- Can non-3D-modelers use the workflow?
- Are generated assets easy to correct?
- Is the output structured enough for the rest of your robotics pipeline?