sdf_template.xml

<?xml version="1.0" ?>
<sdf version='1.6'>
  <model name='{name}'>
    <link name='{name}'>
      <pose frame=''>0 0 0 0 0 0</pose>
      <inertial>
        <pose frame=''>{centroid_string}</pose>
        <mass>{mass}</mass>
        <inertia>
          <ixx>{ixx}</ixx>
          <ixy>{ixy}</ixy>
          <ixz>{ixz}</ixz>
          <iyy>{iyy}</iyy>
          <iyz>{iyz}</iyz>
          <izz>{izz}</izz>
        </inertia>
      </inertial>
      <visual>
        <pose frame=''>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>{mesh_path}</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>{color_string}</ambient>
          <diffuse>{color_string}</diffuse>
          <specular>0.01 0.01 0.01 1</specular>
          <emissive>0 0 0 1</emissive>
          <shader type='vertex'>
            <normal_map>__default__</normal_map>
          </shader>
        </material>
      </visual>
      <collision>
        <pose frame=''>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>{mesh_path}</uri>
          </mesh>
        </geometry>
      </collision>
      <gravity>1</gravity>
      <self_collide>0</self_collide>
    </link>
  </model>
</sdf>