<?xml version="1.0" ?> <sdf version="1.6"> <model name="control_console"> <static>true</static> <link name="link"> <visual name="visual"> <geometry> <mesh> <uri>model://control_console/meshes/console.dae</uri> </mesh> </geometry> </visual> <visual name="backvisual"> <pose>0 0.29388 1.301125 0 0 0</pose> <geometry> <box> <size>1.78 0.05 2.60225</size> </box> </geometry> </visual> <collision name="back_collision"> <pose>0 0.29388 1.301125 0 0 0</pose> <geometry> <box> <size>1.78 0.05 2.60225</size> </box> </geometry> </collision> <collision name="base_collision"> <pose>0 -0.14669 0.4128 0 0 0</pose> <geometry> <box> <size>1.78872 0.97373 0.82560</size> </box> </geometry> </collision> <collision name="mid_collision"> <pose>0 0.04268 1.48248 0 0 0</pose> <geometry> <box> <size>1.70162 0.51806 1.5</size> </box> </geometry> </collision> <collision name="top_collision"> <pose>0 -0.15709 2.31203 0 0 0</pose> <geometry> <box> <size>1.78872 0.95292 0.62632</size> </box> </geometry> </collision> <collision name="panel_collision"> <pose>0 -0.36311 0.90329 0.428775194 0 0</pose> <geometry> <box> <size>1.33522 0.550273114 0.1</size> </box> </geometry> </collision> <collision name="left_lower_shoulder_collision"> <pose>-0.7435 -0.198480 0.87 0.520485 0 0</pose> <geometry> <box> <size>0.30172 0.7 0.5</size> </box> </geometry> </collision> <collision name="right_lower_shoulder_collision"> <pose>0.7435 -0.198480 0.87 0.520485 0 0</pose> <geometry> <box> <size>0.30172 0.7 0.5</size> </box> </geometry> </collision> <collision name="left_upper_shoulder_collision"> <pose>-0.7435 -0.191520 1.992440 -0.620645009 0 0</pose> <geometry> <box> <size>0.30172 0.7 0.5</size> </box> </geometry> </collision> <collision name="right_upper_shoulder_collision"> <pose>0.7435 -0.191520 1.992440 -0.620645009 0 0</pose> <geometry> <box> <size>0.30172 0.7 0.5</size> </box> </geometry> </collision> </link> </model> </sdf>