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initial version

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The Tea-Box

model:physical name="tea_box_model">

<xyz>   -0.1355  -1.138   0.9</xyz>
<rpy>   0.0    0.0    0.0</rpy>
<static>false</static> 
<body:box name="tea_box_body">
  <geom:box name="tea_box_geom">
    <mu1>1.5</mu1>
    <mu2>1.5</mu2>
    <mesh>default</mesh>
    <size>0.085 0.07 0.14</size>
    <mass> 0</mass>
    <visual>
      <size>0.085 0.07 0.14</size>
      <material>Gazebo/Red</material>
      <mesh>unit_box</mesh>
    </visual>
  </geom:box>
</body:box>

</model:physical>

click to hide/show revision 2
fix xml

Edit:

The Tea-Box

model:physical name="tea_box_model">

<model:physical name="tea_box_model">
<xyz>   -0.1355  -1.138   0.9</xyz>
<rpy>   0.0    0.0    0.0</rpy>
<static>false</static> 
<body:box name="tea_box_body">
  <geom:box name="tea_box_geom">
    <mu1>1.5</mu1>
    <mu2>1.5</mu2>
    <mesh>default</mesh>
    <size>0.085 0.07 0.14</size>
    <mass> 0</mass>
    <visual>
      <size>0.085 0.07 0.14</size>
      <material>Gazebo/Red</material>
      <mesh>unit_box</mesh>
    </visual>
  </geom:box>
</body:box>
</model:physical>

</model:physical>