box mesh model.sdf

model.sdf

<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
  <model name="box">
    <pose>0 0 0 0 0 0</pose>
    <link name="base_link">
      <inertial>
        <mass>0.1</mass>
        <inertia>
          <pose>0.0 0 0 0 0 0</pose>
          <ixx>0.001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.001</iyy>
          <iyz>0</iyz>
          <izz>0.001</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>box.obj</uri>
          </mesh>
        </geometry>
        <material>
          <diffuse>0.5 0.5 0.5</diffuse>
        </material>
      </visual>
      <collision name="collision">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>box.obj</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>