model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="pallet full">
<pose>0 0 1 0 0 0</pose>
<static>false</static>
<self_collide>true</self_collide>
<allow_auto_disable>true</allow_auto_disable>
<!-- Pallet dimensions: 120 x 80 x 14.7 cm-->
<include>
<uri>model://europallet</uri>
<name>pallet</name>
<pose>0 0 0 0 0 0</pose>
</include>
<!-- Small Box dimensions: 40 x 24 x 18 cm-->
<!-- First level of boxes -->
<include>
<uri>model://small_box</uri>
<name>small_box_1_lvl_1</name>
<pose>0.40 -0.24 0.172 0 0 0</pose>
<static>true</static>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_2_lvl_1</name>
<pose>0.40 0 0.172 0 0 0</pose>
<static>true</static>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_3_lvl_1</name>
<pose>0.40 0.24 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_4_lvl_1</name>
<pose>0 -0.24 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_5_lvl_1</name>
<pose>0 0 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_6_lvl_1</name>
<pose>0 0.24 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_7_lvl_1</name>
<pose>-0.40 -0.24 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_8_lvl_1</name>
<pose>-0.40 0 0.172 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_9_lvl_1</name>
<pose>-0.40 0.24 0.172 0 0 0</pose>
</include>
<!-- Second level of boxes -->
<include>
<uri>model://small_box</uri>
<name>small_box_1_lvl_2</name>
<pose>0.40 -0.24 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_2_lvl_2</name>
<pose>0.40 0 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_3_lvl_2</name>
<pose>0.40 0.24 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_4_lvl_2</name>
<pose>0 -0.24 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_5_lvl_2</name>
<pose>0 0 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_6_lvl_2</name>
<pose>0 0.24 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_7_lvl_2</name>
<pose>-0.40 -0.24 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_8_lvl_2</name>
<pose>-0.40 0 0.353 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_9_lvl_2</name>
<pose>-0.40 0.24 0.353 0 0 0</pose>
</include>
<!-- Third level of boxes -->
<include>
<uri>model://small_box</uri>
<name>small_box_1_lvl_3</name>
<pose>0.40 -0.24 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_2_lvl_3</name>
<pose>0.40 0 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_3_lvl_3</name>
<pose>0.40 0.24 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_4_lvl_3</name>
<pose>0 -0.24 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_5_lvl_3</name>
<pose>0 0 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_6_lvl_3</name>
<pose>0 0.24 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_7_lvl_3</name>
<pose>-0.40 -0.24 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_8_lvl_3</name>
<pose>-0.40 0 0.534 0 0 0</pose>
</include>
<include>
<uri>model://small_box</uri>
<name>small_box_9_lvl_3</name>
<pose>-0.40 0.24 0.534 0 0 0</pose>
<static>true</static>
</include>
</model>
</sdf>