bullet3/data/kiva_shelf/model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="Amazon Pod">
  	<static>1</static>
  	<pose>0 2 0 0 0 0</pose>
    <link name="pod_link">
      <inertial>
        <pose>0.0 .0 1.2045 0 0 0</pose>
        <mass>76.26</mass>
        <inertia>
          <ixx>47</ixx>
          <ixy>-0.003456</ixy>
          <ixz>0.001474</ixz>
          <izz>13.075</izz>
          <iyz>-0.014439</iyz>
          <iyy>47</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 name="pod_collision">
        <pose>0 0 0 1.5707 0 0</pose>
        <geometry>
          <mesh>
            <uri>meshes/pod_lowres.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.8</mu>
              <mu2>0.8</mu2>
              <fdir1>0.0 0.0 0.0</fdir1>
              <slip1>1.0</slip1>
              <slip2>1.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>

    </link>
  </model>
</sdf>