<?xml version="1.0" ?> <sdf version="1.5"> <model name="frc2016_chevaldefrise"> <link name="base"> <inertial> <mass>10</mass> <pose>0 0 0.15672 0 0 0</pose> <inertia> <ixx>0.380220833</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>1.433654167</iyy> <iyz>0</iyz> <izz>1.647448333</izz> </inertia> </inertial> <visual name="platform"> <pose>0 0 0.06968 0 0 0</pose> <geometry> <box> <size>1.27 0.5969 0.003175</size> </box> </geometry> </visual> <collision name="platform"> <pose>0 0 0.06968 0 0 0</pose> <geometry> <box> <size>1.27 0.5969 0.003175</size> </box> </geometry> </collision> <visual name="bar"> <pose>0 0 0.16855 0 1.5707 0</pose> <geometry> <cylinder> <radius>0.02108</radius> <length>1.273</length> </cylinder> </geometry> </visual> <collision name="bar"> <pose>0 0 0.16855 0 1.5707 0</pose> <geometry> <cylinder> <radius>0.02108</radius> <length>1.27</length> </cylinder> </geometry> </collision> <visual name="castor1"> <pose>-0.45653 -0.16581 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </visual> <collision name="castor1"> <pose>-0.45653 -0.16581 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </collision> <visual name="castor2"> <pose>-0.27855 0.21408 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </visual> <collision name="castor2"> <pose>-0.27855 0.21408 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </collision> <visual name="castor3"> <pose>0.28191 0.21419 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </visual> <collision name="castor3"> <pose>0.28191 0.21419 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </collision> <visual name="castor4"> <pose>0.45965 -0.16602 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </visual> <collision name="castor4"> <pose>0.45965 -0.16602 0.03175 0 0 0</pose> <geometry> <sphere> <radius>0.03175</radius> </sphere> </geometry> </collision> </link> <link name="slant1"> <pose>-0.45720 0.01307 0.1997 -0.397319587 0 0</pose> <inertial> <pose>0 0.1 0 0 0 0</pose> <mass>2</mass> <inertia> <ixx>0.060685681</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.014872282</iyy> <iyz>0</iyz> <izz>0.0755042</izz> </inertia> </inertial> <visual name="visual"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> <material> <script> <name>Gazebo/WoodFloor</name> </script> </material> </visual> <collision name="collision"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> </collision> </link> <link name="slant2"> <pose>-0.15240 -0.01307 0.1997 0.397319587 0 0</pose> <inertial> <mass>2</mass> <pose>0 -0.1 0 0 0 0</pose> <inertia> <ixx>0.060685681</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.014872282</iyy> <iyz>0</iyz> <izz>0.0755042</izz> </inertia> </inertial> <visual name="visual"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> <material> <script> <name>Gazebo/WoodFloor</name> </script> </material> </visual> <collision name="collision"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> </collision> </link> <link name="slant3"> <pose>0.15240 0.01307 0.1997 -0.397319587 0 0</pose> <inertial> <pose>0 0.1 0 0 0 0</pose> <mass>2</mass> <inertia> <ixx>0.060685681</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.014872282</iyy> <iyz>0</iyz> <izz>0.0755042</izz> </inertia> </inertial> <visual name="visual"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> <material> <script> <name>Gazebo/WoodFloor</name> </script> </material> </visual> <collision name="collision"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> </collision> </link> <link name="slant4"> <pose>0.45720 -0.01307 0.1997 0.397319587 0 0</pose> <inertial> <pose>0 -0.1 0 0 0 0</pose> <mass>2</mass> <inertia> <ixx>0.060685681</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.014872282</iyy> <iyz>0</iyz> <izz>0.0755042</izz> </inertia> </inertial> <visual name="visual"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> <material> <script> <name>Gazebo/WoodFloor</name> </script> </material> </visual> <collision name="collision"> <geometry> <box> <size>0.29845 0.593285005 0.0127</size> </box> </geometry> </collision> </link> <joint type="revolute" name="slant1_joint"> <parent>base</parent> <child>slant1</child> <axis> <xyz>1 0 0</xyz> <limit> <lower>0</lower> <upper>1.5707</upper> </limit> </axis> </joint> <joint type="revolute" name="slant2_joint"> <parent>base</parent> <child>slant2</child> <axis> <xyz>1 0 0</xyz> <limit> <lower>-1.5707</lower> <upper>0</upper> </limit> </axis> </joint> <joint type="revolute" name="slant3_joint"> <parent>base</parent> <child>slant3</child> <axis> <xyz>1 0 0</xyz> <limit> <lower>0</lower> <upper>1.5707</upper> </limit> </axis> </joint> <joint type="revolute" name="slant4_joint"> <parent>base</parent> <child>slant4</child> <axis> <xyz>1 0 0</xyz> <limit> <lower>-1.5707</lower> <upper>0</upper> </limit> </axis> </joint> </model> </sdf>