rsc/mano/grab_cube_wcollision.urdf

<?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_test/train/20_sv_dict_real_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/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="/data1/xueyi/GRAB_extracted_test/train/20_sv_dict_real_obj.obj" scale="1.0 1.0 1.0"/>
            </geometry>
        </collision>
    </link>
</robot>