demo_assets/mug/result/mug.urdf

<?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>