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<?xml version="1.0" ?>
<robot name="largebox">
<dynamics damping="0.5" friction="0.9"/>
<link name="largebox_link">
<inertial>
<mass value="0.1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<contact>
<lateral_friction value="0.9"/>
<rolling_friction value="0.5"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="largebox.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="mat">
<color rgba="0.7 0.8 0.9 0.7"/>
</material>
</visual>
<collision name="largebox">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="largebox.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
</robot>
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