cliport/environments/assets/insertion/ell.urdf

<?xml version="1.0" encoding="UTF-8"?>

<robot name="ell.urdf">
  <link name="baseLink">
    <contact>
      <lateral_friction value="0.3"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0.025 0 0"/>
      <geometry>
        <box size=".08 .03 .04"/>
      </geometry>
      <material name="red">
        <color rgba="1 0.3412 0.3490 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.025 0 0"/>
      <geometry>
        <box size=".08 .03 .04"/>
      </geometry>
    </collision>

    <visual>
      <origin rpy="0 0 0" xyz="0 0.025 0"/>
      <geometry>
        <box size=".03 .08 .0399"/>
      </geometry>
      <material name="red">
        <color rgba="1 0.3412 0.3490 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.025 0"/>
      <geometry>
        <box size=".03 .08 .0399"/>
      </geometry>
    </collision>
  </link>
</robot>