byml commited on Mar 19, 2025

Commit

b6c4cfb

verified ·

1 Parent(s): 5932109

Add files using upload-large-folder tool

Browse files

This view is limited to 50 files because it contains too many changes. See raw diff

Files changed (50) hide show

messy_objects/bottle_001/001.obj.mtl +13 -0
messy_objects/bottle_001/model.urdf +28 -0
messy_objects/bowl_019/019.obj.mtl +13 -0
messy_objects/bowl_019/coacd_collision.obj +0 -0
messy_objects/bowl_019/model.urdf +28 -0
messy_objects/bowl_019/model_annnotation.json +1 -0
messy_objects/bowl_019/textured.obj +0 -0
messy_objects/drinkbox_003/coacd_collision.obj +0 -0
messy_objects/drinkbox_003/model_annnotation.json +1 -0
messy_objects/drinkbox_003/textured.obj +0 -0
messy_objects/mug_013/013.obj.mtl +13 -0
messy_objects/mug_013/coacd_collision.obj +0 -0
messy_objects/mug_013/model.urdf +28 -0
messy_objects/ramen_box_002/002.obj.mtl +13 -0
messy_objects/ramen_box_002/coacd_collision.obj +0 -0
messy_objects/ramen_box_002/model.urdf +28 -0
messy_objects/ramen_box_002/model_annnotation.json +1 -0
messy_objects/ramen_box_002/textured.obj +0 -0
messy_objects/razor_001/001.obj.mtl +13 -0
messy_objects/razor_001/model.urdf +28 -0
messy_objects/remote_002/002.obj.mtl +13 -0
messy_objects/remote_002/coacd_collision.obj +0 -0
messy_objects/remote_002/model.urdf +28 -0
messy_objects/remote_002/model_annnotation.json +1 -0
messy_objects/remote_002/textured.obj +0 -0
messy_objects/slipper_014/014.obj.mtl +13 -0
messy_objects/slipper_014/coacd_collision.obj +0 -0
messy_objects/slipper_014/model.urdf +28 -0
messy_objects/slipper_014/model_annnotation.json +1 -0
messy_objects/slipper_014/textured.obj +0 -0
messy_objects/snack_box_045/coacd_collision.obj +0 -0
messy_objects/snack_box_045/model.urdf +28 -0
messy_objects/snack_package_001/001.obj.mtl +13 -0
messy_objects/snack_package_001/coacd_collision.obj +0 -0
messy_objects/snack_package_001/model.urdf +28 -0
messy_objects/snack_package_001/model_annnotation.json +1 -0
messy_objects/snack_package_001/textured.obj +0 -0
messy_objects/snack_package_009/009.obj.mtl +13 -0
messy_objects/snack_package_009/coacd_collision.obj +0 -0
messy_objects/snack_package_009/model.urdf +28 -0
messy_objects/snack_package_009/model_annnotation.json +1 -0
messy_objects/snack_package_009/textured.obj +0 -0
messy_objects/snack_package_010/010.obj.mtl +13 -0
messy_objects/snack_package_010/coacd_collision.obj +0 -0
messy_objects/snack_package_010/model.urdf +28 -0
messy_objects/snack_package_010/model_annnotation.json +1 -0
messy_objects/snack_package_010/textured.obj +0 -0
messy_objects/spoon_018/018.obj.mtl +13 -0
messy_objects/spoon_018/coacd_collision.obj +0 -0
messy_objects/spoon_018/model.urdf +28 -0

messy_objects/bottle_001/001.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 001.jpg

messy_objects/bottle_001/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/bowl_019/019.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 019.jpg

messy_objects/bowl_019/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/bowl_019/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/bowl_019/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.036909534480000006, 0.077119645185, 0.07728056806]}

messy_objects/bowl_019/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/drinkbox_003/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/drinkbox_003/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.067836459875, 0.021843696735, 0.02990484524]}

messy_objects/drinkbox_003/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/mug_013/013.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 013.jpg

messy_objects/mug_013/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/mug_013/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/ramen_box_002/002.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 002.jpg

messy_objects/ramen_box_002/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/ramen_box_002/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/ramen_box_002/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.055351688834999996, 0.04998368191, 0.049428001895]}

messy_objects/ramen_box_002/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/razor_001/001.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 001.jpg

messy_objects/razor_001/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/remote_002/002.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 002.jpg

messy_objects/remote_002/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/remote_002/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/remote_002/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 0, "axis_sign": -1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.06292832352, 0.012513298915, 0.024957793065]}

messy_objects/remote_002/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/slipper_014/014.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 014.jpg

messy_objects/slipper_014/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/slipper_014/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/slipper_014/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 0, "axis_sign": 1}, "approach_axis": {"axis": 2, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.09611443588500002, 0.041417722835000004, 0.046662537905]}

messy_objects/slipper_014/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_box_045/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_box_045/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_package_001/001.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 001.jpg

messy_objects/snack_package_001/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_package_001/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_package_001/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.078221140115, 0.022609436089999997, 0.043799079205]}

messy_objects/snack_package_001/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_package_009/009.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 009.jpg

messy_objects/snack_package_009/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_package_009/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_package_009/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.104156496465, 0.037177885035000004, 0.06468522111]}

messy_objects/snack_package_009/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_package_010/010.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 010.jpg

messy_objects/snack_package_010/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/snack_package_010/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/snack_package_010/model_annnotation.json ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.052672857515000004, 0.013673163185, 0.022379173735]}

messy_objects/snack_package_010/textured.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/spoon_018/018.obj.mtl ADDED Viewed

	@@ -0,0 +1,13 @@

+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 018.jpg

messy_objects/spoon_018/coacd_collision.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

messy_objects/spoon_018/model.urdf ADDED Viewed

	@@ -0,0 +1,28 @@

+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>