<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="grey_tote">
    <link name="link">
      <inertial>
        <pose>0 0 0.141549545 0 0 0</pose>
        <mass>3.53802</mass>
        <inertia>
          <ixx>0.068835836</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.139596236</iyy>
          <iyz>0</iyz>
          <izz>0.155908748</izz>
        </inertia>
      </inertial>

      <collision name="lid">
        <pose>0 0 0.28958 0 0 0</pose>
        <geometry>
          <box>
            <size>0.67768 0.41298 0.01588</size>
          </box>
        </geometry>
      </collision>

      <collision name="lid_lip_1">
        <pose>0 0.20063 0.3048 0 0 0</pose>
        <geometry>
          <box>
            <size>0.65068 0.0105 0.0127</size>
          </box>
        </geometry>
      </collision>

      <collision name="lid_lip_2">
        <pose>0 -0.20063 0.3048 0 0 0</pose>
        <geometry>
          <box>
            <size>0.65068 0.0105 0.0127</size>
          </box>
        </geometry>
      </collision>

      <collision name="lid_lip_3">
        <pose>0.32585 0 0.3048 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02602 0.31202 0.0127</size>
          </box>
        </geometry>
      </collision>

      <collision name="lid_lip_4">
        <pose>-0.32585 0 0.3048 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02602 0.31202 0.0127</size>
          </box>
        </geometry>
      </collision>

      <collision name="side_wall_1">
        <pose>0 -0.18 0.141549545 0.0611474431 0 0</pose>
        <geometry>
          <box>
            <size>0.58404 0.02602 0.28309909</size>
          </box>
        </geometry>
      </collision>

      <collision name="side_wall_2">
        <pose>0 0.18 0.141549545 -0.0611474431 0 0</pose>
        <geometry>
          <box>
            <size>0.58404 0.02602 0.28309909</size>
          </box>
        </geometry>
      </collision>

      <collision name="side_wall_3">
        <pose>0.305 0 0.141549545 0 0.0611474431 0</pose>
        <geometry>
          <box>
            <size>0.02602 0.33046 0.28309909</size>
          </box>
        </geometry>
      </collision>

      <collision name="side_wall_4">
        <pose>-0.305 0 0.141549545 0 -0.0611474431 0</pose>
        <geometry>
          <box>
            <size>0.02602 0.33046 0.28309909</size>
          </box>
        </geometry>
      </collision>

      <collision name="bottom">
        <pose>0 0 0.01 0 0 0</pose>
        <geometry>
          <box>
            <size>0.58404 0.33046 0.02</size>
          </box>
        </geometry>
      </collision>

      <collision name="corner_1">
        <pose>0.30202 -0.175 0.141549545 0.0611474431 0.0611474431 0</pose>
        <geometry>
          <cylinder>
            <radius>0.01268</radius>
            <length>0.28309909</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name="corner_2">
        <pose>-0.30202 -0.175 0.141549545 0.0611474431 -0.0611474431 0</pose>
        <geometry>
          <cylinder>
            <radius>0.01268</radius>
            <length>0.28309909</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name="corner_3">
        <pose>-0.30202 0.175 0.141549545 -0.0611474431 -0.0611474431 0</pose>
        <geometry>
          <cylinder>
            <radius>0.01268</radius>
            <length>0.28309909</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name="corner_4">
        <pose>0.30202 0.175 0.141549545 -0.0611474431 0.0611474431 0</pose>
        <geometry>
          <cylinder>
            <radius>0.01268</radius>
            <length>0.28309909</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://grey_tote/meshes/tote.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>