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GenSim
File size: 779 Bytes 
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<?xml version="1.0" encoding="UTF-8"?>

<robot name="box.urdf">
  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value="0.1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="DIM0"/>
      </geometry>
      <material name="red">
        <color rgba="1 0.3412 0.3490 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
	 	    <sphere radius="DIM0"/>
      </geometry>
    </collision>
  </link>
</robot>