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<?xml version="0.0" ?>
<robot name="grab_camera">
<link name="link0">
<inertial>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<!-- <mass value="200000000"/> -->
<mass value="10000.0"/>
<!-- <mass value="5000.0"/> -->
<!-- <mass value="1000.0"/> -->
<inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
</inertial>
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<!-- <geometry>
<mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1.0 1.0 1.0"/>
</geometry> -->
<!-- /home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj -->
<!-- use the camera collision box as the collision geometry -->
<geometry>
<mesh filename="/home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj" scale="1.0 1.0 1.0"/>
</geometry>
<!-- <material name="">
<contact name="camera"/>
</material> -->
</collision>
</link>
</robot>
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