<?xml version="1.0"?>
<sdf version="1.7">
  <!-- Note: This is an SDF file used for testing Parser package path
       functionality. It relies upon ../meshes/box.obj. 
  -->
  <model name="box">
    <!-- The model for a solid box of uniform density. -->
    <link name="box">
      <pose>0 0 0.5 0 0 0</pose>
      <inertial>
        <mass>1.0</mass>
        <inertia>
          <ixx>0.166666666666667</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.166666666666667</iyy>
          <iyz>0</iyz>
          <izz>0.166666666666667</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>package://box_model/meshes/box.obj</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>package://box_model/meshes/box.obj</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>
