model.sdf

<?xml version='1.0'?>
<sdf version='1.4'>
    <model name="at_volvo">
        <static>false</static>
        
        <!-- Main vehicle Body -->
        <link name='chassis'>
          <!-- pose of the vehicle wrt model origin -->
            <pose>0 0 1 0 0 0</pose>
            
            <!-- Inertia of a box: http://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
            <inertial>
                <mass>2300.0</mass>
                <inertia>  
                    <ixx>937.5</ixx>  <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
                    <ixy>0.0</ixy>    <!-- for a box: ixy = 0 -->
                    <ixz>0.0</ixz>    <!-- for a box: ixz = 0 -->
                    <iyy>8520.8</iyy>  <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
                    <iyz>0.0</iyz>    <!-- for a box: iyz = 0 -->
                    <izz>9083.3</izz>  <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
                </inertia>
            </inertial>
            
            <!-- Collision box -->
            <collision name='collision'>
                <geometry>
                    <box>
                        <size>5.250 2.495 0.4</size>
                    </box>
                </geometry>
            </collision>
            
            <!-- Appearence box -->
            <visual name='visual'>
                <geometry>
                     <box>
                        <size>5.250 2.495 0.4</size>
                    </box>
                </geometry>
            </visual>
            
        </link>


        <!-- Main cabinet -->
        <link name='cabinet'>
            
            <!-- pose of the vehicle wrt model origin -->
            <pose>1.5 0 2.75 0 0 0</pose>
            
            <!-- Inertia of a box: http://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
            <inertial>
                <mass>1000.0</mass>
                <inertia>  
                    <ixx>937.5</ixx>  <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
                    <ixy>0.0</ixy>    <!-- for a box: ixy = 0 -->
                    <ixz>0.0</ixz>    <!-- for a box: ixz = 0 -->
                    <iyy>8520.8</iyy>  <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
                    <iyz>0.0</iyz>    <!-- for a box: iyz = 0 -->
                    <izz>9083.3</izz>  <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
                </inertia>
            </inertial>
            
            <!-- Collision box -->
            <collision name='collision'>
                <geometry>
                    <box>
                        <size>2.375 2.495 3.353</size>
                    </box>
                </geometry>