<?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>