<?xml version='1.0'?>
<sdf version="1.4">
  <model name="{name}">
    <link name="{name}">
    <gravity>0</gravity>
      <collision name="collision">
        <mesh>
          <uri>model:/{stl}</uri>
        </mesh>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model:/{stl}</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>{friction}</mu>
            </ode>
          </friction>
        </surface>
      </visual>
  </link>
  </model>
</sdf>
