<?xml version="1.0"?>
<robot name="box">
  <handle name="handle" clearance="0.025" approaching_direction="0 0 1">
    <position xyz="0 0 0" wxyz="0 0 1 0" />
    <link name="base_link"/>
  </handle>
<contact name="surface">
    <link name="base_link"/>
    <point>-0.025 -0.025 -0.025   -0.025 0.025 -0.025   0.025 0.025 -0.025   0.025 -0.025 -0.025
    </point>
    <shape> 4 0 1 2 3</shape>
  </contact>
</robot>
