<?xml version="1.0"?>
<robot name="block">
    <link name="box_link">
        <inertial>
            <mass value="0.1" />
            <inertia  ixx=".0016" ixy="0.0"  ixz="0.0"  iyy="0.0016"  iyz="0.0"  izz=".0016" />
        </inertial>
        <collision>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.4 0.3 0.3" />
            </geometry>
        </collision>
    </link>
    <joint name="box_left_target_joint" type="fixed">
        <parent link="box_link"/>
        <child link="box_left_target"/>
        <origin rpy="0 0 0" xyz="0.16 0.00 0.00"/>
        <axis xyz="0 1 0"/>
    </joint>
    <joint name="box_right_target_joint" type="fixed">
        <parent link="box_link"/>
        <child link="box_right_target"/>
        <origin rpy="0 0 0" xyz="-0.16 0.00 0.00"/>
        <axis xyz="0 1 0"/>
    </joint>
    <link name="box_left_target">
        <inertial>
            <mass value="0.01"/>
            <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>
                <sphere radius="0.075" />
            </geometry>
        </visual>
    </link>
    <link name="box_right_target">
        <inertial>
            <mass value="0.01"/>
            <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>
                <sphere radius="0.075" />
            </geometry>
        </visual>
    </link>
</robot>
