bullet3/data/kiva_shelf/model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="Amazon Pod">
  	<static>1</static>
  	<pose>0 1 0 0 0 0</pose>
    <link name="pod_link">
      <inertial>
        <pose>0.0 .0 1.2045 0 0 0</pose>
        <mass>0</mass>
        <inertia>
          <ixx>0</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <izz>0.0</izz>
          <iyz>0.0</iyz>
          <iyy>0.0</iyy>
        </inertia>
      </inertial>

      <visual name="pod_visual">
        <pose>0 0 0 1.5707 0 0 </pose>
        <geometry>
          <mesh>
            <uri>meshes/pod_lowres.stl</uri>
          </mesh>
        </geometry>
         <material>
            <diffuse>0.9 0.8 0.5 1</diffuse>
          </material>
      </visual>


      <collision concave="yes" name="pod_collision">
        <pose>0 0 1.21515 1.5707 0 0</pose>
        <geometry>
         		<box>
              <size>0.875 1.754 0.03</size>
            </box>
        </geometry>
      </collision>
      
      <collision concave="yes" name="pod_collision">
        <pose>-0.42 0 1.18 1.5707 0 1.5707 </pose>
        <geometry>
         		<box>
              <size>0.875 1.754 0.03</size>
            </box>
        </geometry>
      </collision>
      
       <collision concave="yes" name="pod_collision">
        <pose>0.42 0.42 1.17 1.5707 0 0</pose>
        <geometry>
         		<box>
              <size>0.03 2.3 0.03</size>
            </box>
        </geometry>
      </collision>
 			<collision concave="yes" name="pod_collision">
        <pose>-0.42 0.42 1.17 1.5707 0 0</pose>
        <geometry>
         		<box>
              <size>0.03 2.3 0.03</size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>-0.42 -0.42 1.17 1.5707 0 0</pose>
        <geometry>
         		<box>
              <size>0.03 2.3 0.03</size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>0.42 -0.42 1.17 1.5707 0 0</pose>
        <geometry>
         		<box>
              <size>0.03 2.3 0.03</size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0.15 0 1.49 1.5707 0 1.5707 </pose>
        <geometry>
         		<box>
              <size>0.875 1.32 0.01</size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>-0.15 0 1.49 1.5707 0 1.5707 </pose>
        <geometry>
         		<box>
              <size>0.875 1.32 0.01</size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 0 .57 1.5707 0 1.5707 </pose>
        <geometry>
         		<box>
              <size>0.875 0.45 0.01</size>
            </box>
        </geometry>
      </collision>
 			<collision concave="yes" name="pod_collision">
        <pose>0.42 0 1.18 1.5707 0 1.5707 </pose>
        <geometry>
         		<box>
              <size>0.875 1.754 0.03</size>
            </box>
        </geometry>
      </collision>
      	<collision concave="yes" name="pod_collision">
        <pose>0 0 1.06 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>0 0 1.06 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
			<collision concave="yes" name="pod_collision">
        <pose>0 0 0.80 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>0 0.43 0.81 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.856 0.018  0.028 </size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 -0.43 0.81 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.856 0.018  0.028 </size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 0.43 1.08 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.856 0.018  0.028 </size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 -0.43 1.08 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.856 0.018  0.028 </size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>0 0 0.37 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 0 1.29 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
       <collision concave="yes" name="pod_collision">
        <pose>0 0 1.53 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
      <collision concave="yes" name="pod_collision">
        <pose>0 0 1.78 0 0 0 </pose>
        <geometry>
         		<box>
              <size>0.905 0.856 0.028 </size>
            </box>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>