box/box.urdf

<?xml version="1.0" ?>
<robot name="box">
   <material name="obj_color">
      <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
   </material>
   <link name="bottom" >
      <inertial>
         <origin rpy="0.009578938304163032 0.01383122819087999 0.02210942853910467" xyz="0.06401037477649513 0.1239463244195009 0.0723354468809288"/>
         <!-- <origin xyz="0.064  0.124 0.072"/> -->
         
         <mass value="0.9641835016356286"/>
         <inertia ixx="0.01740937106990968" ixy="-0.004100502885264876" ixz="6.424519702369054e-05" iyy="0.01853027980705198" iyz="-9.071681726536037e-05" izz="0.009579944157186033"/>
          
         <!-- <mass value="2.0"/>
         <inertia ixx='0.0248' ixy='-0.0045' ixz='0.0' iyy='0.0255' iyz='0.0' izz='0.0118'/> -->
         
      </inertial>
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="bottom_textured.obj" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="obj_color"/>
      </visual>
      <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="bottom_watertight_tiny.obj" scale="1 1 1"/>
         </geometry>
      </collision>
   </link>
   <link name="top" >
      <inertial>
         <origin rpy="0.0009680237751385933 0.001544481910897999 0.002495543214473779" xyz="0.112182930090877 0.07129451557071434 0.07301110853740603"/>
         <!-- <origin xyz="0.112 0.071 0.073"/> -->
         <mass value="0.13"/>
         <inertia ixx="0.00197330428049181" ixy="-0.0004732898428930508" ixz="-8.666737675085466e-06" iyy="0.002066596029088538" iyz="-2.543344639705717e-06" izz="0.0009681485909300232"/>
          
         <!-- <mass value="0.1"/>
         <inertia ixx='0.0012' ixy='-0.0003' ixz='0.0' iyy='0.0012' iyz='0.0' izz='0.0005'/> -->

      </inertial>
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="top_textured.obj" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="obj_color"/>
      </visual>
      <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
            <mesh filename="top_watertight_tiny.obj" scale="1 1 1"/>
         </geometry>
      </collision>
   </link>
   
   <joint name="rotation" type="revolute">
      <origin xyz="0 0 0"/>
      <axis xyz="0 0 -1"/>
      <parent link="bottom"/>
      <child link="top"/>
      <dynamics damping="0.01" friction="0.0"/>
      <limit effort="50" velocity="50" lower="0" upper="2.6"/>
   </joint>
</robot>