<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="frc2016_sallyport">
    <link name="base">
      <inertial>
        <mass>50</mass>
        <pose>0 0 0.35406 0 0 0</pose>
        <inertia>
          <ixx>0.727808333</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.774884167</iyy>
          <iyz>0</iyz>
          <izz>1.641090833</izz>
        </inertia>
      </inertial>

      <visual name="platform">
        <pose>0 0 0.06974 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.5969 0.003175</size>
          </box>
        </geometry>
      </visual>
      <collision name="platform">
        <pose>0 0 0.06974 0 0 0</pose>
        <geometry>
          <box>
            <size>1.27 0.5969 0.003175</size>
          </box>
        </geometry>
      </collision>

      <visual name="left_column">
        <pose>-0.5588 0.00318 0.38876 0 0 0</pose>
        <geometry>
          <box>
            <size>0.1524 0.38735 0.635</size>
          </box>
        </geometry>
      </visual>
      <collision name="left_column">
        <pose>-0.5588 0.00318 0.38876 0 0 0</pose>
        <geometry>
          <box>
            <size>0.1524 0.38735 0.635</size>
          </box>
        </geometry>
      </collision>

      <visual name="right_column">
        <pose>0.6096 0.00635 0.38876 0 0 0</pose>
        <geometry>
          <box>
            <size>0.0508 0.381 0.635</size>
          </box>
        </geometry>
      </visual>
      <collision name="right_column">
        <pose>0.6096 0.00635 0.38876 0 0 0</pose>
        <geometry>
          <box>
            <size>0.0508 0.381 0.635</size>
          </box>
        </geometry>
      </collision>

      <visual name="castor1">
        <pose>-0.45886 0.15389 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="castor1">
        <pose>-0.45886 0.15389 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </collision>

      <visual name="castor2">
        <pose>-0.28117 -0.22559 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="castor2">
        <pose>-0.28117 -0.22559 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </collision>

      <visual name="castor3">
        <pose>0.27933 -0.2272 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="castor3">
        <pose>0.27933 -0.2272 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </collision>

      <visual name="castor4">
        <pose>0.4571 0.15424 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </visual>
      <collision name="castor4">
        <pose>0.4571 0.15424 0.03487 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.03487</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <link name="door">
      <pose>0.02255 -0.24321 0.40332 0 0 0</pose>

      <inertial>
        <pose>0 0 0 -1.5707 0 0</pose>
        <mass>2</mass>
        <inertia>
          <ixx>0.06194208</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.246461547</iyy>
          <iyz>0</iyz>
          <izz>0.308390187</izz>
        </inertia>
      </inertial>

      <visual name="visual">
        <geometry>
          <box>
            <size>1.21603 0.00635 0.6096</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/WoodFloor</name>
          </script>
        </material>
      </visual>
      <collision name="collision">
        <geometry>
          <box>
            <size>1.21603 0.00635 0.6096</size>
          </box>
        </geometry>
      </collision>
    </link>

    <joint type="revolute" name="door_joint">
      <pose>-0.608015 0 0 0 0 0</pose>
      <parent>base</parent>
      <child>door</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-3.1415</lower>
          <upper>0</upper>
        </limit>
      </axis>
    </joint>

  </model>
</sdf>