rsc/mano/grab_phone_wcollision.urdf

<?xml version="0.0" ?>
    <robot name="grab_phone">
        
        <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/110_obj.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_test/train/110_obj.obj" scale="1.0 1.0 1.0"/>
                </geometry>
            </collision>
        </link>
    </robot>