Add terrain models

models/terrain/climb_00/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.17899117 -0.36590242 0.00000000
+v -0.17899117 -0.36590242 0.95000000
+v 0.06105282 0.16209274 0.00000000
+v 0.06105282 0.16209274 0.95000000
+v 1.27754718 -1.02809274 0.00000000
+v 1.27754718 -1.02809274 0.95000000
+v 1.51759117 -0.50009758 0.00000000
+v 1.51759117 -0.50009758 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_00/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_00/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_00/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_00/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_00/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_01/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_01/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.50000000 -1.87173590 0.00000000
+v -0.50000000 -1.87173590 0.18000000
+v -0.50000000 -0.87173590 0.00000000
+v -0.50000000 -0.87173590 0.18000000
+v 0.50000000 -1.87173590 0.00000000
+v 0.50000000 -1.87173590 0.18000000
+v 0.50000000 -0.87173590 0.00000000
+v 0.50000000 -0.87173590 0.18000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_01/box_models/box3.obj

@@ -0,0 +1,21 @@
+# box3 - Box 3 from multi_boxes.obj (filtered)
+v -1.06922190 -0.28532291 0.00000000
+v -1.06922190 -0.28532291 0.47000000
+v -1.06922190 0.71467709 0.00000000
+v -1.06922190 0.71467709 0.47000000
+v -0.06922190 -0.28532291 0.00000000
+v -0.06922190 -0.28532291 0.47000000
+v -0.06922190 0.71467709 0.00000000
+v -0.06922190 0.71467709 0.47000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_01/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_01/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_01/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_01/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_01/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.9"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_02/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_02/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.46236701 -0.41011558 0.00000000
+v -0.46236701 -0.41011558 0.47000000
+v -0.53499228 0.58724372 0.00000000
+v -0.53499228 0.58724372 0.47000000
+v 0.53499228 -0.33749031 0.00000000
+v 0.53499228 -0.33749031 0.47000000
+v 0.46236701 0.65986899 0.00000000
+v 0.46236701 0.65986899 0.47000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_02/box_models/box3.obj

@@ -0,0 +1,21 @@
+# box3 - Box 3 from multi_boxes.obj (filtered)
+v -0.50000000 -1.86849506 0.00000000
+v -0.50000000 -1.86849506 0.18000000
+v -0.50000000 -0.86849506 0.00000000
+v -0.50000000 -0.86849506 0.18000000
+v 0.50000000 -1.86849506 0.00000000
+v 0.50000000 -1.86849506 0.18000000
+v 0.50000000 -0.86849506 0.00000000
+v 0.50000000 -0.86849506 0.18000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_02/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_02/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_02/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_02/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_02/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,104 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 3 -->
+  <link name="box3_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box3_material">
+        <color rgba="0.9 0.7 0.3 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box3">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box3.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 3 -->
+  <joint name="world_to_box3" type="fixed">
+    <parent link="world"/>
+    <child link="box3_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_03/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.50000000 -1.89988488 0.00000000
+v -0.50000000 -1.89988488 0.18000000
+v -0.50000000 -0.89988488 0.00000000
+v -0.50000000 -0.89988488 0.18000000
+v 0.50000000 -1.89988488 0.00000000
+v 0.50000000 -1.89988488 0.18000000
+v 0.50000000 -0.89988488 0.00000000
+v 0.50000000 -0.89988488 0.18000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_03/multi_boxes_scaled_0.67_0.67_0.67.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.6741573033707865 0.6741573033707865 0.6741573033707865"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.6741573033707865 0.6741573033707865 0.6741573033707865"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.6741573033707865 0.6741573033707865 0.6741573033707865"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.6741573033707865 0.6741573033707865 0.6741573033707865"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_scaled_1.01_1.01_1.01.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="1.0112359550561798 1.0112359550561798 1.0112359550561798"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="1.0112359550561798 1.0112359550561798 1.0112359550561798"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="1.0112359550561798 1.0112359550561798 1.0112359550561798"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="1.0112359550561798 1.0112359550561798 1.0112359550561798"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_03/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_04/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_04/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.95144523 -0.26796933 0.00000000
+v -0.95144523 -0.26796933 0.47000000
+v -0.95144523 0.73203067 0.00000000
+v -0.95144523 0.73203067 0.47000000
+v 0.04855477 -0.26796933 0.00000000
+v 0.04855477 -0.26796933 0.47000000
+v 0.04855477 0.73203067 0.00000000
+v 0.04855477 0.73203067 0.47000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_04/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_04/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_04/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_04/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_04/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_05/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_05/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.99706874 -0.51730460 0.00000000
+v -0.99706874 -0.51730460 0.47000000
+v -1.02833880 0.48220637 0.00000000
+v -1.02833880 0.48220637 0.47000000
+v 0.00244224 -0.48603454 0.00000000
+v 0.00244224 -0.48603454 0.47000000
+v -0.02882783 0.51347644 0.00000000
+v -0.02882783 0.51347644 0.47000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_05/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_05/multi_boxes_z_scale_0.9.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.6674157303370787"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_05/multi_boxes_z_scale_1.0.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.7415730337078652"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_05/multi_boxes_z_scale_1.1.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8157303370786518"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_05/multi_boxes_z_scale_1.2.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.8898876404494382"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

models/terrain/climb_06/box_models/box1.obj

@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.06466743 -0.93995140 0.00000000
+v -1.06466743 -0.93995140 0.95000000
+v -1.10189440 -0.46139717 0.00000000
+v -1.10189440 -0.46139717 0.95000000
+v 0.53051334 -0.81586147 0.00000000
+v 0.53051334 -0.81586147 0.95000000
+v 0.49328637 -0.33730724 0.00000000
+v 0.49328637 -0.33730724 0.95000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_06/box_models/box2.obj

@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.50000000 -0.50000000 0.00000000
+v -0.50000000 -0.50000000 0.47000000
+v -0.50000000 0.50000000 0.00000000
+v -0.50000000 0.50000000 0.47000000
+v 0.50000000 -0.50000000 0.00000000
+v 0.50000000 -0.50000000 0.47000000
+v 0.50000000 0.50000000 0.00000000
+v 0.50000000 0.50000000 0.47000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

models/terrain/climb_06/multi_boxes_z_scale_0.8.urdf

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot name="multi_boxes">
+  <!-- Note: Platform/ground boxes with large coordinates (-10 or 10) have been filtered out -->
+
+  <!-- Box 1 -->
+  <link name="multi_boxes_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box1_material">
+        <color rgba="0.3 0.7 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="multi_boxes">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box1.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Box 2 -->
+  <link name="box2_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+      <material name="box2_material">
+        <color rgba="0.7 0.3 0.9 0.5"/>
+      </material>
+    </visual>
+    
+    <collision name="box2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="box_models/box2.obj" scale="0.7415730337078652 0.7415730337078652 0.5932584269662922"/>
+      </geometry>
+    </collision>
+    
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="33.33"/>
+      <inertia ixx="33.33" ixy="0.0" ixz="0.0" iyy="33.33" iyz="0.0" izz="33.33"/>
+    </inertial>
+  </link>
+
+  <!-- Fixed joint to world for Box 1 -->
+  <joint name="world_to_multi_boxes" type="fixed">
+    <parent link="world"/>
+    <child link="multi_boxes_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <!-- Fixed joint to world for Box 2 -->
+  <joint name="world_to_box2" type="fixed">
+    <parent link="world"/>
+    <child link="box2_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>