<?xml version="1.0" ?>
<robot name="cube_gripper_left.urdf">
  <link name="world">
  </link>
  
  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="0.3"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <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>
    <visual>
      <origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
      <geometry>
				<mesh filename="cube.obj" scale=".05 .05 .05"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
      <geometry>
	 	<box size=".05 .05 .05"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="cube_joint" type="prismatic">
    <parent link="world"/>
    <child link="baseLink"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
    <dynamics damping="0.0"/>
  </joint>
</robot>

