<link name="{name}">
  <pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
  <inertial>
    <pose>{posX} {posY} {posZ} {eulerX} {eulerY} {eulerZ}</pose>
    <inertia>
      <ixx>{ixx}</ixx>
      <ixy>{ixy}</ixy>
      <ixz>{ixz}</ixz>
      <iyy>{iyy}</iyy>
      <iyz>{iyz}</iyz>
      <izz>{izz}</izz>
    </inertia>
    <mass>{massSDF}</mass>
  </inertial>
  <collision name="collision">
    <geometry>
      <mesh>
        <uri>model:/{stl}</uri>
      </mesh>
    </geometry>
  </collision>
  <visual name="visual">
    <geometry>
      <mesh>
        <uri>model:/{stl}</uri>
      </mesh>
    </geometry>
      <surface>
          <friction>
            <ode>
              <mu>{friction}</mu>
            </ode>
          </friction>
      </surface>
  </visual>
</link>