<robot
  name="SodaCan">
  <link
    name="SodaCan">
    <inertial>
      <origin
        xyz="6.3803E-07 -0.00040069 0.057905"
        rpy="0 0 0" />
      <mass
        value="0.01075796" />
        <!-- value="0.0025" /> -->
      <inertia
        ixx="2.26033614774976E-05"
        ixy="-9.98652849003266E-11"
        ixz="3.65766043484588E-10"
        iyy="2.25577441097444E-05"
        iyz="-2.29442115120678E-07"
        izz="9.46402094536517E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SodaCan/meshes/SodaCan.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.86667 0.9098 1 1" />
      </material>
    </visual>
    <collision name="sodaCollision">
      <origin
        xyz="0 0 0.05778"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SodaCan/meshes/SodaCollision.stl" />
      </geometry>
    </collision>
  </link>

  <gazebo reference="SodaCan">
    <mu1>1</mu1>
    <mu2>1</mu2>
    <!-- <kp>1000000.0</kp> -->
    <!-- <kd>1.0</kd> -->
    <material>Gazebo/Red</material>
  </gazebo>
  <!-- <gazebo reference="sodaCollision"> -->
  <!--     <max_contacts>1</max_contacts> -->
  <!--     <max_vel>0.001</max_vel> -->
  <!--     <min_depth>0.25</min_depth> -->
  <!-- </gazebo> -->
</robot>
