<?xml version="1.0" ?>

<robot name="tmp.urdf">

<link name="baseLink">

<inertial>

<origin rpy="0 0 0" xyz="0 0 0"/>

<mass value=".1"/>

<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>

</inertial>

<contact>

<lateral_friction value="1.0"/>

<inertia_scaling value="3.0"/>

</contact>

<visual>

<origin rpy="0 0 0" xyz="0 0 0"/>

<geometry>

<mesh filename="tmp_source_2.stl" scale="1 1 1" />

</geometry>

<material name="red">

<color rgba="1 0 0 1"/>

</material>

</visual>

<collision>

<origin rpy="0 0 0" xyz="0 0 0"/>

<geometry>

<mesh filename="tmp_source_2.obj" scale="1 1 1" />

</geometry>

</collision>

</link>

</robot>