gazebo_models/bus_stop/model.sdf

<?xml version="1.0" ?>
<sdf version='1.7'>
  <model name='bus_stop'>
    <link name='base_link'>
      <inertial>
        <pose>-0.028945 0.578968 0.865497 0 -0 0</pose>
        <mass>599.322</mass>
        <inertia>
          <ixx>1541.97</ixx>
          <ixy>-12.6703</ixy>
          <ixz>1.60713</ixz>
          <iyy>1635.91</iyy>
          <iyz>370.745</iyz>
          <izz>1773.29</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 0.12 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/base_link.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__bench_collision_1'>
        <pose>-0.68039 -0.585 0.76 -1.5708 0 -3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/bench.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__board_collision_2'>
        <pose>-1.5 -0.022169 2.9407 -1.5708 -0 -1.5708</pose>
        <geometry>
          <box>
            <size>0.82 0.266 0.01</size>
          </box>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__glass1_collision_3'>
        <pose>1.49 -0.005 1.34 -3.14159 -0 1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__glass2_collision_4'>
        <pose>0.755 -0.76 1.34 3.14159 -0 -3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__glass3_collision_5'>
        <pose>-0.745 -0.74 1.34 -3.14159 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__glass4_collision_6'>
        <pose>-1.49 -0.005 1.34 -3.14159 0 -1.5708</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__head_collision_7'>
        <pose>0 0 2.64 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/head.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__round1_collision_8'>
        <pose>1.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__round2_collision_9'>
        <pose>0.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__round3_collision_10'>
        <pose>-0.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__round4_collision_11'>
        <pose>-1.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_fixed_joint_lump__tag_collision_12'>
        <pose>-1.73 0 2.69 -1.5708 0 -1.5708</pose>
        <geometry>
          <box>
            <size>0.39 0.087 .002</size>
          </box>
        </geometry>
      </collision>
      <visual name='base_link_visual'>
        <pose>0 0 0.12 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/base_link.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__bench_visual_1'>
        <pose>-0.68039 -0.585 0.76 -1.5708 0 -3.14159</pose>
        <cast_shadows>false</cast_shadows>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/bench.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__board_visual_2'>
        <cast_shadows>false</cast_shadows>
        <pose>-1.5 -0.022169 2.9407 -1.5708 -0 -1.5708</pose>
        <geometry>
          <box>
            <size>0.82 0.266 0.01</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://bus_stop/materials/scripts</uri>
            <uri>model://bus_stop/materials/textures</uri>
            <name>bus/station</name>
          </script>
        </material>
      </visual>
      <visual name='base_link_fixed_joint_lump__glass1_visual_3'>
        <pose>1.49 -0.005 1.34 -3.14159 -0 1.5708</pose>
        <transparency>0.7</transparency>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__glass2_visual_4'>
        <pose>0.755 -0.76 1.34 3.14159 -0 -3.14159</pose>
        <transparency>0.7</transparency>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__glass3_visual_5'>
        <pose>-0.745 -0.74 1.34 -3.14159 0 0</pose>
        <transparency>0.7</transparency>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__glass4_visual_6'>
        <pose>-1.49 -0.005 1.34 -3.14159 0 -1.5708</pose>
        <transparency>0.7</transparency>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/glass.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__head_visual_7'>
        <pose>0 0 2.64 1.5708 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/head.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__round1_visual_8'>
        <pose>1.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__round2_visual_9'>
        <pose>0.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__round3_visual_10'>
        <pose>-0.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__round4_visual_11'>
        <pose>-1.5 0 2.64 1.57079 7e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://bus_stop/meshes/round.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='base_link_fixed_joint_lump__tag_visual_12'>
        <pose>-1.73 0 2.69 -1.5708 0 -1.5708</pose>
        <geometry>
          <box>
            <size>0.39 0.087 .002</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://bus_stop/materials/scripts</uri>
            <uri>model://bus_stop/materials/textures</uri>
            <name>bus/tag</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>