<?xml version="1.0" ?>
<!---
Model consists of 4 cubes places symmetrically
in the XY plane. This model is used to verify the
"ign sdf --inertial-stats" tool .
            +y
            │
          ┌─┼─┐
       L3 │ │ │(0,5,0)
          └─┼─┘
            │
  L2┌───┐   │     ┌───┐L1
────┼┼┼┼┼───┼─────┼┼┼┼┼─── +x
    └───┘   │     └───┘
  (-5,0,0)  │     (5,0,0)
          ┌─┼─┐
          │ │ │(0,-5,0)
          └─┼─┘
          L4│
-->
<sdf version="1.6">

    <model name="test_model">
      <pose>0 0 0 0 0 0</pose>

      <link name="link_1">
        <pose>5 0 0 0 0 0</pose>
        <inertial>
          <mass>6.0</mass>
          <inertia>
            <ixx>1</ixx>
            <iyy>1</iyy>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name="collision_1">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>

      <link name="link_2">
        <pose>-5 0 0 0 0 0</pose>
        <inertial>
          <mass>6.0</mass>
          <inertia>
            <ixx>1</ixx>
            <iyy>1</iyy>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name="collision_2">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>

      <link name="link_3">
        <pose>0 5 0 0 0 0</pose>
        <inertial>
          <mass>6.0</mass>
          <inertia>
            <ixx>1</ixx>
            <iyy>1</iyy>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name="collision_3">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>

      <link name="link_4">
        <pose>0 -5 0 0 0 0</pose>
        <inertial>
          <mass>6.0</mass>
          <inertia>
            <ixx>1</ixx>
            <iyy>1</iyy>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name="collision_4">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_4">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

</sdf>
