<?xml version="1.0" ?> <sdf version="1.5"> <model name="Construction Barrel"> <link name="link"> <inertial> <pose>0 0 0.4 0 0 0</pose> <mass>500</mass> <inertia> <ixx>51.2096</ixx> <iyy>51.2096</iyy> <izz>25</izz> <ixy>0</ixy> <ixz>0</ixz> </inertia> </inertial> <collision name="collision"> <geometry> <mesh> <uri>model://construction_barrel/meshes/construction_barrel.dae</uri> </mesh> </geometry> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://construction_barrel/meshes/construction_barrel.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>