<robot name="blob545">
  <link name="random_obj_545">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <inertia_scaling value="3.0"/>
      <contact_cfm value="0.0"/>
      <contact_erp value="1.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="545.obj" scale="0.015 0.015 0.015"/>
      </geometry>
      <material name="blockmat">
        <color rgba="0.74 0.01 0.62 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="545.obj" scale="0.015 0.015 0.015"/>
      </geometry>
    </collision>
  </link>
</robot>
