<?xml version="0.0" ?>
<robot name="box">
  <link name="boxLink">
  <contact>
      <lateral_friction value="1"/>
  </contact>
<inertial>
<mass value="5.0" />
<inertia  ixx=".0016" ixy="0.0"  ixz="0.0"  iyy="0.0016"  iyz="0.0"  izz=".0016" />
</inertial>
  <visual>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <geometry>
      <box size="0.035 0.035 0.035"/>
    </geometry>
      <material name="white">
      <color rgba="0 1 0 1"/>
    </material>
  </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
  	 	<box size="0.035 0.035 0.035"/>
      </geometry>
    </collision>
  </link>
</robot>