<?xml version="1.0"?>
<robot name="open_top_box">
  <!--
  This model is meant to be a container in which other objects can be dumped.
  Origin:
    (0, 0, 0) at the center bottom of the bin.
  -->
  <link name="bin">
    <!-- This inertia value is bogus since its inconsequential -->
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.122"/>
      <inertia ixx="0.000360" ixy="0" ixz="0" iyy="0.0000615" iyz="0" izz="0.00036"/>
    </inertial>
    <!-- Front -->
    <visual>
      <origin rpy="0 0 0" xyz="0.19 0 0.15"/>
      <geometry>
        <box size="0.01 0.52 0.3"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.19 0 0.15"/>
      <geometry>
        <box size="0.01 0.52 0.3"/>
      </geometry>
    </collision>
    <!-- Back -->
    <visual>
      <origin rpy="0 0 0" xyz="-0.19 0 0.15"/>
      <geometry>
        <box size="0.01 0.52 0.3"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.19 0 0.15"/>
      <geometry>
        <box size="0.01 0.52 0.3"/>
      </geometry>
    </collision>
    <!-- Left -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0.26 0.15"/>
      <geometry>
        <box size="0.38 0.01 0.3"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.26 0.15"/>
      <geometry>
        <box size="0.38 0.01 0.3"/>
      </geometry>
    </collision>
    <!-- Right -->
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.26 0.15"/>
      <geometry>
        <box size="0.38 0.01 0.3"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.26 0.15"/>
      <geometry>
        <box size="0.38 0.01 0.3"/>
      </geometry>
    </collision>
    <!-- bottom -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.38 0.52 0.01"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.0 -0.005"/>
      <geometry>
        <box size="0.38 0.52 0.01"/>
      </geometry>
    </collision>
  </link>
</robot>
