-
jenniferdavid authored23533d86
model.sdf 14.14 KiB
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="frc2016_roughterrain">
<static>true</static>
<link name="link">
<visual name="platform">
<pose>0 0 0.08269 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5969 0.003175</size>
</box>
</geometry>
</visual>
<collision name="platform">
<pose>0 0 0.08269 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5969 0.003175</size>
</box>
</geometry>
</collision>
<visual name="row1_block1_sm">
<pose>0.51435 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row1_block1_sm">
<pose>0.51435 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row1_block2_lg">
<pose>0.40005 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row1_block2_lg">
<pose>0.40005 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row1_block3_md">
<pose>0.28575 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row1_block3_md">
<pose>0.28575 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size> </box>
</geometry>
</collision>
<visual name="row1_block4_sm">
<pose>0.17145 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row1_block4_sm">
<pose>0.17145 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row1_block5_md">
<pose>0.05715 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row1_block5_md">
<pose>0.05715 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row1_block6_lg">
<pose>-0.05715 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row1_block6_lg">
<pose>-0.05715 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row1_block7_sm">
<pose>-0.17145 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row1_block7_sm">
<pose>-0.17145 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry> </collision>
<visual name="row1_block8_sm">
<pose>-0.28575 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row1_block8_sm">
<pose>-0.28575 0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row1_block9_md">
<pose>-0.40005 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row1_block9_md">
<pose>-0.40005 0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row1_block10_lg">
<pose>-0.51435 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row1_block10_lg">
<pose>-0.51435 0.11430 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<!-- Row 2 -->
<visual name="row2_block1_md">
<pose>0.5715 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row2_block1_md">
<pose>0.5715 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry> </collision>
<visual name="row2_block2_sm">
<pose>0.45720 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row2_block2_sm">
<pose>0.45720 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row2_block3_lg">
<pose>0.3429 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row2_block3_lg">
<pose>0.3429 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row2_block4_md">
<pose>0.2286 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row2_block4_md">
<pose>0.2286 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row2_block5_lg">
<pose>0.1143 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row2_block5_lg">
<pose>0.1143 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row2_block6_sm">
<pose>0 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row2_block6_sm">
<pose>0 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row2_block7_md">
<pose>-0.1143 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row2_block7_md">
<pose>-0.1143 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row2_block8_lg">
<pose>-0.2286 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row2_block8_lg">
<pose>-0.2286 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row2_block9_sm">
<pose>-0.3429 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row2_block9_sm">
<pose>-0.3429 0 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row2_block10_lg">
<pose>-0.4572 0 0.12238 0 0 0</pose> <geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row2_block10_lg">
<pose>-0.4572 0 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row2_block11_md">
<pose>-0.5715 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row2_block11_md">
<pose>-0.5715 0 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<!-- Row 3 -->
<visual name="row3_block1_lg">
<pose>0.51435 -0.1143 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row3_block1_lg">
<pose>0.51435 -0.1143 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row3_block2_md">
<pose>0.40005 -0.1143 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row3_block2_md">
<pose>0.40005 -0.1143 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row3_block3_lg">
<pose>0.28575 -0.1143 0.12238 0 0 0</pose>
<geometry> <box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</visual>
<collision name="row3_block3_lg">
<pose>0.28575 -0.1143 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row3_block4_sm">
<pose>0.17145 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row3_block4_sm">
<pose>0.17145 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row3_block5_md">
<pose>0.05715 -0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row3_block5_md">
<pose>0.05715 -0.1143 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row3_block6_md">
<pose>-0.05715 -0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row3_block6_md">
<pose>-0.05715 -0.1143 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row3_block7_lg">
<pose>-0.17145 -0.1143 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size> </box>
</geometry>
</visual>
<collision name="row3_block7_lg">
<pose>-0.17145 -0.1143 0.12238 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0762</size>
</box>
</geometry>
</collision>
<visual name="row3_block8_sm">
<pose>-0.28575 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row3_block8_sm">
<pose>-0.28575 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
<visual name="row3_block9_md">
<pose>-0.40005 -0.11430 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</visual>
<collision name="row3_block9_md">
<pose>-0.40005 -0.1143 0.10968 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0508</size>
</box>
</geometry>
</collision>
<visual name="row3_block10_sm">
<pose>-0.51435 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</visual>
<collision name="row3_block10_sm">
<pose>-0.51435 -0.11430 0.09698 0 0 0</pose>
<geometry>
<box>
<size>0.0762 0.0762 0.0254</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>