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jenniferdavid authored23533d86
model.sdf 8.50 KiB
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="frc2016_portcullis">
<link name="base">
<inertial>
<mass>50</mass>
<pose>0 0 1.02941 0 0 0</pose>
<inertia>
<ixx>3.817114167</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.876984167</iyy>
<iyz>0</iyz>
<izz>1.628296667</izz>
</inertia>
</inertial>
<visual name="platform">
<pose>0 0 0.07284 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5842 0.003175</size>
</box>
</geometry>
</visual>
<collision name="platform">
<pose>0 0 0.07284 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5842 0.003175</size>
</box>
</geometry>
</collision>
<visual name="left_column">
<pose>0.59284 0 0.99042 0 0 0</pose>
<geometry>
<box>
<size>0.08375 0.28575 1.83198</size>
</box>
</geometry>
</visual>
<collision name="left_column">
<pose>0.59284 0 0.99042 0 0 0</pose>
<geometry>
<box>
<size>0.08375 0.28575 1.83198</size>
</box>
</geometry>
</collision>
<visual name="right_column">
<pose>-0.57759 0 0.99042 0 0 0</pose>
<geometry>
<box>
<size>0.08375 0.28575 1.83198</size>
</box>
</geometry>
</visual>
<collision name="right_column">
<pose>-0.57759 0 0.99042 0 0 0</pose>
<geometry>
<box>
<size>0.08375 0.28575 1.83198</size>
</box>
</geometry>
</collision>
<visual name="top"> <pose>-0.00034 0 1.77722 0 0 0</pose>
<geometry>
<box>
<size>1.229620.28575 0.26657</size>
</box>
</geometry>
</visual>
<collision name="top">
<pose>-0.00034 0 1.77722 0 0 0</pose>
<geometry>
<box>
<size>1.229620.28575 0.26657</size>
</box>
</geometry>
</collision>
<visual name="castor1">
<pose>-0.45651 -0.16234 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</visual>
<collision name="castor1">
<pose>-0.45651 -0.16234 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</collision>
<visual name="castor2">
<pose>-0.27883 0.21836 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</visual>
<collision name="castor2">
<pose>-0.27883 0.21836 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</collision>
<visual name="castor3">
<pose>0.28083 0.21906 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</visual>
<collision name="castor3">
<pose>0.28083 0.21906 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</collision>
<visual name="castor4">
<pose>0.45871 -0.16186 0.03272 0 0 0</pose>
<geometry> <sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</visual>
<collision name="castor4">
<pose>0.45871 -0.16186 0.03272 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03272</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="gate">
<pose>-0.02870 0.02885 0.93327 0 0 0</pose>
<inertial>
<mass>2</mass>
<pose>0 0 0 0 0 0</pose>
<inertia>
<ixx>3.817114167</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.876984167</iyy>
<iyz>0</iyz>
<izz>1.628296667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1.1938 0.02496 1.45732</size>
</box>
</geometry>
</collision>
<visual name="horz_1">
<pose>0 0 -0.70326 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="horz_2">
<pose>0 0 -0.44926 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="horz_3">
<pose>0 0 -0.14517 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size> </box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="horz_4">
<pose>0 0 0.16034 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="horz_5">
<pose>0 0 0.46514 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="horz_6">
<pose>0 0 0.72994 0 0 0</pose>
<geometry>
<box>
<size>1.1938 0.02496 0.0508</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="vert_1">
<pose>-0.58448 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.02495 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="vert_2">
<pose>-0.38128 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.0508 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse> </material>
</visual>
<visual name="vert_3">
<pose>-0.12728 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.0508 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="vert_4">
<pose>0.12672 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.0508 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="vert_5">
<pose>0.38072 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.0508 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
<visual name="vert_6">
<pose>0.58392 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.02495 0.02496 1.45732</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1.0</ambient>
<diffuse>0.4 0.4 0.4 1.0</diffuse>
</material>
</visual>
</link>
<joint type="prismatic" name="joint">
<parent>base</parent>
<child>gate</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>1.0</upper>
</limit>
</axis>
</joint>
</model>
</sdf>