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                <mu>0.5</mu>
                <mu2>0.5</mu2>
                <slip1>0.1</slip1>
                <slip2>0.1</slip2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="boxball_0.4a">
      <pose>5.0 0 0  0 0 0</pose>
      <link name="link">
        <pose>0 0 0.2  0 0 0</pose>
        <inertial>
          <mass>2.0</mass>
          <inertia>
            <ixx>0.053333333333333344</ixx>
            <iyy>0.053333333333333344</iyy>
            <izz>0.053333333333333344</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>0.5</mu2>
                <slip1>0.2</slip1>
                <slip2>0.2</slip2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Green</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="boxball_0.4b">
      <pose>7.0 0 0  0 0 0</pose>
      <link name="link">
        <pose>0 0 0.2  0 0 0</pose>
        <inertial>
          <mass>4.0</mass>
          <inertia>
            <ixx>0.10666666666666669</ixx>
            <iyy>0.10666666666666669</iyy>
            <izz>0.10666666666666669</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>0.5</mu2>
                <slip1>0.1</slip1>
                <slip2>0.1</slip2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Green</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="boxball_0.6a">
      <pose>9.0 0 0  0 0 0</pose>
      <link name="link">
        <pose>0 0 0.2  0 0 0</pose>
        <inertial>
          <mass>3.0</mass>
          <inertia>
            <ixx>0.08000000000000002</ixx>
            <iyy>0.08000000000000002</iyy>
            <izz>0.08000000000000002</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>0.5</mu2>
                <slip1>0.2</slip1>
                <slip2>0.2</slip2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Blue</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="boxball_0.6b">
      <pose>11.0 0 0  0 0 0</pose>
      <link name="link">
        <pose>0 0 0.2  0 0 0</pose>
        <inertial>
          <mass>6.0</mass>
          <inertia>
            <ixx>0.16000000000000003</ixx>
            <iyy>0.16000000000000003</iyy>
            <izz>0.16000000000000003</izz>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyz>0.0</iyz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.5</mu>
                <mu2>0.5</mu2>
                <slip1>0.1</slip1>
                <slip2>0.1</slip2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.4 0.4 0.4</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Blue</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

  </world>
</sdf>
