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<?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> |