<?xml version="1.0"?>
<robot name="box">
  <link name="box">
    <inertial>
      <mass value="1"/>
      <!-- Inertia values were calculated to be consistent with the mass and
           geometry size, assuming a uniform density. -->
      <inertia ixx="0.0108" ixy="0" ixz="0" iyy="0.0083" iyz="0" izz="0.0042"/>
    </inertial>
    <visual>
      <geometry>
        <box size=".1 .2 .3"/>
      </geometry>
    </visual>
    <collision name="box">
      <geometry>
        <box size=".1 .2 .3"/>
      </geometry>
    </collision>
  </link>
</robot>
