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<?xml version="1.0" encoding="UTF-8"?>
<robot name="container.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
<rolling_friction value="0.0001"/>
<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 0" xyz="0 0 -HALF2"/>
<geometry>
<box size="DIM0 DIM1 .002"/>
</geometry>
<material name="brown">
<color rgba="0.61176471 0.45882353 0.37254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -HALF2"/>
<geometry>
<box size="DIM0 DIM1 .002"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 -HALF1 0"/>
<geometry>
<box size="DIM0 .002 DIM2"/>
</geometry>
<material name="brown">
<color rgba="0.61176471 0.45882353 0.37254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -HALF1 0"/>
<geometry>
<box size="DIM0 .002 DIM2"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 HALF1 0"/>
<geometry>
<box size="DIM0 .002 DIM2"/>
</geometry>
<material name="brown">
<color rgba="0.61176471 0.45882353 0.37254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 HALF1 0"/>
<geometry>
<box size="DIM0 .002 DIM2"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="-HALF0 0 0"/>
<geometry>
<box size=".002 DIM1 DIM2"/>
</geometry>
<material name="brown">
<color rgba="0.61176471 0.45882353 0.37254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-HALF0 0 0"/>
<geometry>
<box size=".002 DIM1 DIM2"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="HALF0 0 0"/>
<geometry>
<box size=".002 DIM1 DIM2"/>
</geometry>
<material name="brown">
<color rgba="0.61176471 0.45882353 0.37254902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="HALF0 0 0"/>
<geometry>
<box size=".002 DIM1 DIM2"/>
</geometry>
</collision>
</link>
</robot>
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