<?xml version="1.0"?>
<!--
  This SDF describes a single box with geometry specified by
  meshes/box.obj. This mesh is a 2x2x2 box centered at the
  origin.
-->
<sdf version="1.7">
  <model name="box">
    <pose>0 0 0.5 0 0 0</pose>
    <link name="box">
      <inertial>
        <mass>1.</mass>
        <inertia>
          <ixx>8.41666666</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>8.41666666</iyy>
          <iyz>0</iyz>
          <izz>16.6666666</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>package://drake/geometry/render/test/meshes/box.obj</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>package://drake/geometry/render/test/meshes/box.obj</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
    <static>1</static>
  </model>
</sdf>
