<?xml version="0.0" ?>
<robot name="right_finger.urdf">
  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
       <mass value=".2"/>
       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.5708" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.042"/>
      <geometry>
	 	<box size="0.02 0.02 0.15"/>
      </geometry>
    </collision>
  </link>
</robot>

