This is my loadURDF line:
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p.loadURDF("stack_5.urdf", globalScaling=5)
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p.loadURDF("stack_5.urdf", globalScaling=5, useMaximalCoordinates=True, useFixedBase=False)
this is my stack_5.urdf file:
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<?xml version="1.0" ?>
<robot name="stack_5.urdf">
<link name="baseLink">
<contact>
<lateral_friction value=".5"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.5"/>
<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="stack_5.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="0.5 0.5 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.15 0.05 0.03"/>
</geometry>
</collision>
</link>
</robot>