cliport/environments/assets/insertion/fixture.urdf

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

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      <lateral_friction value="0.3"/>
      <rolling_friction value="0.0001"/>
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       <mass value=".1"/>
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    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.02"/>
      <geometry>
        <box size=".02 .02 .001"/>
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  </link>
</robot>