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<?xml version="0.0" ?>
<robot name="grab_plane">
<link name="link0">
<inertial>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<!-- <mass value="200000000"/> -->
<!-- <mass value="160.78"/> -->
<mass value="10000.0"/>
<!-- <mass value="1000.0"/> -->
<inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
</inertial>
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="/data1/xueyi/GRAB_extracted_test/train/322_obj.obj" scale="1 1 1"/>
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</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="/data1/xueyi/GRAB_extracted_test/train/322_obj.obj" scale="1.0 1.0 1.0"/>
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</collision>
</link>
</robot>
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