<?xml version="1.0"?>
<robot name="{name}">
  <link name="baseLink">
    <contact>
      <friction_anchor />
      <lateral_friction value="0.3" />
      <rolling_friction value="0.0" />
      <contact_cfm value="0.0" />
      <contact_erp value="1.0" />
    </contact>
    <inertial>
      <origin xyz="{centerMassX} {centerMassY} {centerMassZ}" />
      <mass value="{massSDF}" />
      <inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}" iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
    </inertial>
    <visual>
      <geometry>
        <mesh filename="{stl}" scale="1 1 1" />
      </geometry>
      <material name="white">
        <color rgba="1. 1. 1. 1." />
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="{stl}" scale="1 1 1" />
      </geometry>
    </collision>
    <friction>
      <ode>
        <mu>0.2</mu> 
        <mu2>0.1</mu2> 
        <fdir1>1 0 0</fdir1>  
      </ode>
    </friction>
  </link>
</robot>