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<?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>1.176994</scale>
<version>v0.1.5</version>
<category>table</category>
<description>circular wooden table with vertical panel-style 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>20251008235602</generate_time>
<gs_model>mesh/table_gs.ply</gs_model>
</extra_info>
</link>
<custom_data>
<quality>
<MeshGeoChecker>NO: Missing structural parts; gaps between vertical elements suggest incomplete geometry.</MeshGeoChecker>
<ImageSegChecker>YES</ImageSegChecker>
<ImageAestheticChecker>5.1004228591918945</ImageAestheticChecker>
<overall>NO</overall>
</quality>
</custom_data>
</robot> |