rsc/mano/redmax_box_test_3_wcollision.urdf

<?xml version="0.0" ?>

<robot name="redmax_arctic_box">
    
    <link name="link0">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <!-- <mass value="200000000"/> -->
            <mass value="4.0"/>
            <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="1 1 1"/>
                <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="0.7 0.7 0.7"/> -->
                 <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="1  1  0.8"/> -->
                 <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="0.9 1     0.8"/> -->
            </geometry>
        </visual>
        <collision>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="1.0 1.0 1.0"/>
                <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="0.7 0.7 0.7"/> -->
                <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="1 1 0.8"/> -->
                <!-- <mesh filename="meshes/obj_data/init_bounding_box.obj" scale="0.9  1  0.8"/> -->
            </geometry>
          <material name="">
            <contact name="box"/>
          </material>
        </collision>
    </link>

    
</robot>