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<?xml version='1.0' encoding='utf-8'?> |
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<robot name="rubik's_cube"> |
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<link name="rubik's_cube"> |
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<visual> |
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<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" /> |
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<geometry> |
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<mesh filename="mesh/rubik's_cube.obj" scale="1.0 1.0 1.0" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0" rpy="1.5708 0.0 0.0" /> |
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<geometry> |
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<mesh filename="mesh/rubik's_cube_collision.obj" scale="1.0 1.0 1.0" /> |
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</geometry> |
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<gazebo> |
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<mu1>0.80</mu1> |
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<mu2>0.70</mu2> |
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</gazebo> |
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</collision> |
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<inertial> |
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<mass value="0.2000" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> |
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</inertial> |
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<extra_info> |
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<scale>0.060038</scale> |
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<version>v0.1.4</version> |
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<category>puzzle cube</category> |
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<description>colorful 3x3 cube with glossy surface and vibrant patterns</description> |
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<min_height>0.05</min_height> |
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<max_height>0.07</max_height> |
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<real_height>0.06</real_height> |
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<min_mass>0.15</min_mass> |
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<max_mass>0.25</max_mass> |
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<generate_time>20250923174228</generate_time> |
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<gs_model>mesh/sample3d_0_gs.ply</gs_model> |
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</extra_info> |
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</link> |
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<custom_data> |
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<quality> |
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<MeshGeoChecker>NO: overlapping geometry between tiles is visible.</MeshGeoChecker> |
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<ImageSegChecker>YES</ImageSegChecker> |
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<ImageAestheticChecker>5.322659492492676</ImageAestheticChecker> |
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<overall>NO</overall> |
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</quality> |
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</custom_data> |
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</robot> |
