gazebo_models/pier/model.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="pier">
    <static>true</static>
    <link name="link">
      <pose>0 0 7.457472766 0 0 0</pose>
      <collision name="collision_platform">
        <pose>0 11.191539466 0.479153728 0 0 0</pose>
        <geometry>
          <box>
            <size>4.998414184 22.105855458 0.223136714</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar1">
        <pose>2.765798126 0.839949044 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar2">
        <pose>2.765798126 5.15329932 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar3">
        <pose>2.765798126 10.602651388 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar4">
        <pose>2.765798126 16.597281512 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar5">
        <pose>2.765798126 21.976791962 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>

      <collision name="collision_pillar6">
        <pose>-2.765798126 0.839949044 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar7">
        <pose>-2.765798126 5.15329932 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar8">
        <pose>-2.765798126 10.602651388 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar9">
        <pose>-2.765798126 16.597281512 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_pillar10">
        <pose>-2.765798126 21.976791962 -2.649199172 0 0 0</pose>
        <geometry>
          <box>
            <size>0.526207228 0.526207228 9.616546934</size>
          </box>
        </geometry>
      </collision>

      <collision name="collision_beam1">
        <pose>0 0.303861978 0.079695294 0 0 0</pose>
        <geometry>
          <box>
            <size>6.28904 0.526207228 0.526207228</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_beam2">
        <pose>0 4.617212 0.079695294 0 0 0</pose>
        <geometry>
          <box>
            <size>6.28904 0.526207228 0.526207228</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_beam3">
        <pose>0 10.066563814 0.079695294 0 0 0</pose>
        <geometry>
          <box>
            <size>6.28904 0.526207228 0.526207228</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_beam4">
        <pose>0 16.061198002 0.079695294 0 0 0</pose>
        <geometry>
          <box>
            <size>6.28904 0.526207228 0.526207228</size>
          </box>
        </geometry>
      </collision>
      <collision name="collision_beam5">
        <pose>0 21.440703626 0.079695294 0 0 0</pose>
        <geometry>
          <box>
            <size>6.28904 0.526207228 0.526207228</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://pier/meshes/pier.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>