model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="frc2016_moat">
    <static>true</static>
    <link name="link">
      <inertial>
        <mass>10</mass>
        <pose>0 0 0.06738 0 0 0</pose>
        <inertia>
          <ixx>0.312195</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.359270833</iyy>
          <iyz>0</iyz>
          <izz>1.641090833</izz>
        </inertia>
      </inertial>

      <visual name="platform">
        <pose>0 0 0.0381 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.5969 0.0762</size>
          </box>
        </geometry>
      </visual>
      <collision name="platform">
        <pose>0 0 0.0381 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.5969  0.0762</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube1_side1">
        <pose>0 -0.25876 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube1_side1">
        <pose>0 -0.25876 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube1_side2">
        <pose>0 -0.22384 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube1_side2">
        <pose>0 -0.22384 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube1_top">
        <pose>0 -0.2413 0.13317 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.0381 0.003175</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube1_top">
        <pose>0 -0.2413 0.13317 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.0381 0.003175</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube2_side1">
        <pose>0 0.22384 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube2_side1">
        <pose>0 0.22384 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube2_side2">
        <pose>0 0.25876 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube2_side2">
        <pose>0 0.25876 0.10301 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.003175 0.0635</size>
          </box>
        </geometry>
      </collision>

      <visual name="tube2_top">
        <pose>0 0.2413 0.13317 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.0381 0.003175</size>
          </box>
        </geometry>
        <material>
          <ambient>0.46 0.46 0.46 1.0</ambient>
          <diffuse>0.46 0.46 0.46 1.0</diffuse>
        </material>
      </visual>
      <collision name="tube2_top">
        <pose>0 0.2413 0.13317 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.0381 0.003175</size>
          </box>
        </geometry>
      </collision>

    </link>
  </model>
</sdf>