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<?xml version="0.0" ?>
<!-- based on data/cube.urdf -->
<robot name="procedural_obj_%%ID%%">
<link name="procedural_obj_%%ID%%">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="%%ID%%.obj" scale="1 1 1"/>
</geometry>
<material name="random_colour">
<color rgba="%%RGB%% 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="%%ID%%.vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>
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