diff --git a/models/terrain/.DS_Store b/models/terrain/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..c77623dae1a25ae6733b38cbdab45a91498abd3d
Binary files /dev/null and b/models/terrain/.DS_Store differ
diff --git a/models/terrain/climb_00/.DS_Store b/models/terrain/climb_00/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..a4261c66c5ccb3d4bf9b27f16d173b792acf3126
Binary files /dev/null and b/models/terrain/climb_00/.DS_Store differ
diff --git a/models/terrain/climb_00/box_models/box1.obj b/models/terrain/climb_00/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250507699827569ffd2714977730785a1457767f
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_00/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_00/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_00/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_00/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_00/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_00/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_00/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_00/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_00/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_00/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_00/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_00/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_00/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_00/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_00/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_01/box_models/box1.obj b/models/terrain/climb_01/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_01/box_models/box2.obj b/models/terrain/climb_01/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7772be4c89f44b99c59da3afd91462284aaba1dd
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_01/box_models/box3.obj b/models/terrain/climb_01/box_models/box3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b365b58532a6e2ecf9a789780aca852dcb733ed
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_01/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_01/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e9c443454891e90bcf36766e9e1ac3aecae4d206
--- /dev/null
+++ b/models/terrain/climb_01/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_01/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_01/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ff6d1e67ab959fa47ea90a5614ebe6c83d9aab0
--- /dev/null
+++ b/models/terrain/climb_01/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_01/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_01/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35ba5dccb9109b4163b7a4c68f1ed17385e4174c
--- /dev/null
+++ b/models/terrain/climb_01/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_01/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_01/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e12d5de6b2a9ba2b4ed39c77c485caa7e147818
--- /dev/null
+++ b/models/terrain/climb_01/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_01/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_01/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96c717b428d92b66e51b650c21ddb6dde67c7585
--- /dev/null
+++ b/models/terrain/climb_01/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_02/box_models/box1.obj b/models/terrain/climb_02/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_02/box_models/box2.obj b/models/terrain/climb_02/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9cdaeac29921d5791144dca51852cc743638bd
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_02/box_models/box3.obj b/models/terrain/climb_02/box_models/box3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df65f11df5350e43d96a1a1a5c5e23fd7cc89a1d
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_02/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_02/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9551e94b97ad095b84d3d30d8ee6886f72772486
--- /dev/null
+++ b/models/terrain/climb_02/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_02/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_02/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e4a11b7f6b5f588e584854f9d85440d9ea2dcce2
--- /dev/null
+++ b/models/terrain/climb_02/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,104 @@
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\ No newline at end of file
diff --git a/models/terrain/climb_02/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_02/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..35ba5dccb9109b4163b7a4c68f1ed17385e4174c
--- /dev/null
+++ b/models/terrain/climb_02/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,104 @@
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\ No newline at end of file
diff --git a/models/terrain/climb_02/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_02/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7deefc1b8043c5d8e19c526b1e59a3defab769d0
--- /dev/null
+++ b/models/terrain/climb_02/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_02/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_02/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ee631759fb610a00a7d952cf7678a26aff32605
--- /dev/null
+++ b/models/terrain/climb_02/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,104 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/box_models/box1.obj b/models/terrain/climb_03/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_03/box_models/box2.obj b/models/terrain/climb_03/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a220868b7d664068be02aa594e345b0dcda268a
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_03/multi_boxes_scaled_0.67_0.67_0.67.urdf b/models/terrain/climb_03/multi_boxes_scaled_0.67_0.67_0.67.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d404148318d05df86bea0da3fc82b632a356a370
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_scaled_0.67_0.67_0.67.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_scaled_1.01_1.01_1.01.urdf b/models/terrain/climb_03/multi_boxes_scaled_1.01_1.01_1.01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26bc0f848c890d6927d2f5b35709f81f65d52c22
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_scaled_1.01_1.01_1.01.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_03/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_03/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_03/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_03/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_03/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_03/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_03/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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diff --git a/models/terrain/climb_04/box_models/box1.obj b/models/terrain/climb_04/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_04/box_models/box2.obj b/models/terrain/climb_04/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dcac427df284cf2c321e8e3e765f05cd87c5615
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_04/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_04/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_04/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_04/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_04/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_04/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_04/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_04/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_04/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_04/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_04/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_04/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_04/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_04/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_04/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_05/box_models/box1.obj b/models/terrain/climb_05/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_05/box_models/box2.obj b/models/terrain/climb_05/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56ad6334bbb941880e703c6d5c5c457eea3225ec
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_05/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_05/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_05/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_05/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_05/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_05/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_05/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_05/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_05/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_05/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_05/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_05/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_05/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_05/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_05/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_06/box_models/box1.obj b/models/terrain/climb_06/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_06/box_models/box2.obj b/models/terrain/climb_06/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd937bd42530714382e33fd6a354e94ec19f8449
--- /dev/null
+++ b/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
diff --git a/models/terrain/climb_06/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_06/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_06/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_06/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_06/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_06/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_06/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_06/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_06/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_06/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_06/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_06/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_06/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_06/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_06/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_07/box_models/box1.obj b/models/terrain/climb_07/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6321ee5d465169da2d68887889f3fe02d576ee8c
--- /dev/null
+++ b/models/terrain/climb_07/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.69321246 -0.91105573 0.00000000
+v -0.69321246 -0.91105573 0.95000000
+v -0.73043944 -0.43250149 0.00000000
+v -0.73043944 -0.43250149 0.95000000
+v 0.90196831 -0.78696580 0.00000000
+v 0.90196831 -0.78696580 0.95000000
+v 0.86474133 -0.30841157 0.00000000
+v 0.86474133 -0.30841157 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
diff --git a/models/terrain/climb_07/box_models/box2.obj b/models/terrain/climb_07/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd937bd42530714382e33fd6a354e94ec19f8449
--- /dev/null
+++ b/models/terrain/climb_07/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
diff --git a/models/terrain/climb_07/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_07/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_07/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_07/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_07/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_07/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_07/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_07/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_07/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_07/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_07/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_07/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_07/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_07/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_07/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_08/box_models/box1.obj b/models/terrain/climb_08/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/models/terrain/climb_08/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
diff --git a/models/terrain/climb_08/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_08/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_08/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_08/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_08/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_08/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_08/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_08/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_08/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_08/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_08/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_08/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_08/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_08/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_08/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
\ No newline at end of file
diff --git a/models/terrain/climb_09/box_models/box1.obj b/models/terrain/climb_09/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/models/terrain/climb_09/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
diff --git a/models/terrain/climb_09/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_09/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_09/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_09/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_09/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_09/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_09/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_09/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_09/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_09/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_09/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_09/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_09/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_09/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_09/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_10/box_models/box1.obj b/models/terrain/climb_10/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a297021faffdf9617aaeda009f83ea0bc1bfcba4
--- /dev/null
+++ b/models/terrain/climb_10/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.04838062 -1.14931887 0.00000000
+v -1.04838062 -1.14931887 0.95000000
+v -1.11818121 -0.25202969 0.00000000
+v -1.11818121 -0.25202969 0.95000000
+v 0.54680015 -1.02522895 0.00000000
+v 0.54680015 -1.02522895 0.95000000
+v 0.47699956 -0.12793976 0.00000000
+v 0.47699956 -0.12793976 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
diff --git a/models/terrain/climb_10/box_models/box2.obj b/models/terrain/climb_10/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e605f5b05e28b2c508ac75b3e3387d2fa015a7
--- /dev/null
+++ b/models/terrain/climb_10/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v 0.57796408 -0.72527988 0.00000000
+v 0.57796408 -0.72527988 0.47000000
+v 0.49330868 0.27113041 0.00000000
+v 0.49330868 0.27113041 0.47000000
+v 1.57437437 -0.64062448 0.00000000
+v 1.57437437 -0.64062448 0.47000000
+v 1.48971897 0.35578581 0.00000000
+v 1.48971897 0.35578581 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
diff --git a/models/terrain/climb_10/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_10/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_10/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_10/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_10/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_10/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_10/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_10/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_10/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_10/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_10/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_10/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_10/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_10/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_10/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/box_models/box1.obj b/models/terrain/climb_11/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/models/terrain/climb_11/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
diff --git a/models/terrain/climb_11/multi_boxes_scaled_0.67_0.67_0.67.urdf b/models/terrain/climb_11/multi_boxes_scaled_0.67_0.67_0.67.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2898ef647192bf2fd1912c6f1175c467669d105
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_scaled_0.67_0.67_0.67.urdf
@@ -0,0 +1,38 @@
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_scaled_1.01_1.01_1.01.urdf b/models/terrain/climb_11/multi_boxes_scaled_1.01_1.01_1.01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b1d23ed58785d361563b318bd81764930ee7c3ef
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_scaled_1.01_1.01_1.01.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_11/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_11/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_11/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_11/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_11/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_11/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_11/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_12/box_models/box1.obj b/models/terrain/climb_12/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40becc07b867de418f10f32c399f57a22057c694
--- /dev/null
+++ b/models/terrain/climb_12/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.63398372 -1.56844223 0.00000000
+v -0.63398372 -1.56844223 0.95000000
+v -0.77358489 0.22613614 0.00000000
+v -0.77358489 0.22613614 0.95000000
+v 0.76179945 -1.45986354 0.00000000
+v 0.76179945 -1.45986354 0.95000000
+v 0.62219828 0.33471482 0.00000000
+v 0.62219828 0.33471482 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
diff --git a/models/terrain/climb_12/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_12/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_12/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_12/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_12/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_12/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_12/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_12/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_12/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_12/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_12/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_12/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_12/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_12/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_12/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_13/box_models/box1.obj b/models/terrain/climb_13/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02db45d6e0492d7d1089edfb1adcbf58c6f8e84
--- /dev/null
+++ b/models/terrain/climb_13/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
diff --git a/models/terrain/climb_13/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_13/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4951296fa27e28bfa7039c7d0f396534a6ae2bff
--- /dev/null
+++ b/models/terrain/climb_13/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
\ No newline at end of file
diff --git a/models/terrain/climb_13/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_13/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cba7ee4b1addf1d0b774be14b409654a9c9d8ad
--- /dev/null
+++ b/models/terrain/climb_13/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
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+
+
\ No newline at end of file
diff --git a/models/terrain/climb_13/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_13/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffaf02830cc03e94d956c519ca9c775d49d688e5
--- /dev/null
+++ b/models/terrain/climb_13/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
\ No newline at end of file
diff --git a/models/terrain/climb_13/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_13/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd348a791a9184a04b38a866d53a67684011294
--- /dev/null
+++ b/models/terrain/climb_13/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
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+
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+
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+
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+
+
\ No newline at end of file
diff --git a/models/terrain/climb_13/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_13/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5256d54a1376adf3884f936c2cbd135b6ee0a503
--- /dev/null
+++ b/models/terrain/climb_13/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
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+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_14/box_models/box1.obj b/models/terrain/climb_14/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7d10146701d4e9edc3bba7b7018d367c6d172a
--- /dev/null
+++ b/models/terrain/climb_14/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.99219826 -0.50337128 0.00000000
+v -0.99219826 -0.50337128 0.64000000
+v -1.22944047 0.41652879 0.00000000
+v -1.22944047 0.41652879 0.64000000
+v 0.55710712 -0.10380546 0.00000000
+v 0.55710712 -0.10380546 0.64000000
+v 0.31986491 0.81609461 0.00000000
+v 0.31986491 0.81609461 0.64000000
+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
diff --git a/models/terrain/climb_14/box_models/box2.obj b/models/terrain/climb_14/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10b3d9850fec03c0d5f5618f2ada558688d1dce
--- /dev/null
+++ b/models/terrain/climb_14/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.97099409 -2.50000000 0.00000000
+v -2.97099409 -2.50000000 0.10000000
+v -2.97099409 2.50000000 0.00000000
+v -2.97099409 2.50000000 0.10000000
+v 2.02900591 -2.50000000 0.00000000
+v 2.02900591 -2.50000000 0.10000000
+v 2.02900591 2.50000000 0.00000000
+v 2.02900591 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_14/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_14/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_14/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
+
+
+
\ No newline at end of file
diff --git a/models/terrain/climb_14/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_14/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_14/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_14/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_14/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_14/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_14/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_14/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_14/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_14/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_14/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_14/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
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+
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+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_15/box_models/box1.obj b/models/terrain/climb_15/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7855bc9d02fa1d23518d1cf050a2cc0bb4e698a
--- /dev/null
+++ b/models/terrain/climb_15/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.00603159 -0.50373294 0.00000000
+v -1.00603159 -0.50373294 0.64000000
+v -1.24327379 0.41616713 0.00000000
+v -1.24327379 0.41616713 0.64000000
+v 0.54327379 -0.10416713 0.00000000
+v 0.54327379 -0.10416713 0.64000000
+v 0.30603159 0.81573294 0.00000000
+v 0.30603159 0.81573294 0.64000000
+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
diff --git a/models/terrain/climb_15/box_models/box2.obj b/models/terrain/climb_15/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_15/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_15/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_15/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_15/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_15/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_15/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_15/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_15/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_15/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_15/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_15/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_15/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_15/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
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+
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+
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+
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\ No newline at end of file
diff --git a/models/terrain/climb_15/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_15/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_15/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
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+
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\ No newline at end of file
diff --git a/models/terrain/climb_16/box_models/box1.obj b/models/terrain/climb_16/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7855bc9d02fa1d23518d1cf050a2cc0bb4e698a
--- /dev/null
+++ b/models/terrain/climb_16/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.00603159 -0.50373294 0.00000000
+v -1.00603159 -0.50373294 0.64000000
+v -1.24327379 0.41616713 0.00000000
+v -1.24327379 0.41616713 0.64000000
+v 0.54327379 -0.10416713 0.00000000
+v 0.54327379 -0.10416713 0.64000000
+v 0.30603159 0.81573294 0.00000000
+v 0.30603159 0.81573294 0.64000000
+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
diff --git a/models/terrain/climb_16/box_models/box2.obj b/models/terrain/climb_16/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_16/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_16/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_16/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_16/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
+
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+
+
+
+
+
+
+
+
+
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+
+
+
+
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+
+
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+
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+
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+
+
+
\ No newline at end of file
diff --git a/models/terrain/climb_16/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_16/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_16/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_16/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_16/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_16/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_16/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_16/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_16/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_16/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_16/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_16/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_17/box_models/box1.obj b/models/terrain/climb_17/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1e7e108764b82f7423215c74867b0740967974
--- /dev/null
+++ b/models/terrain/climb_17/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.90160750 -0.47680197 0.00000000
+v -0.90160750 -0.47680197 0.64000000
+v -1.13884970 0.44309810 0.00000000
+v -1.13884970 0.44309810 0.64000000
+v 0.93819264 -0.00231757 0.00000000
+v 0.93819264 -0.00231757 0.64000000
+v 0.70095044 0.91758250 0.00000000
+v 0.70095044 0.91758250 0.64000000
+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
diff --git a/models/terrain/climb_17/box_models/box2.obj b/models/terrain/climb_17/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_17/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_17/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_17/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_17/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_17/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_17/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_17/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_17/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_17/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_17/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_17/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_17/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_17/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_17/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_17/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_17/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_18/box_models/box1.obj b/models/terrain/climb_18/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7855bc9d02fa1d23518d1cf050a2cc0bb4e698a
--- /dev/null
+++ b/models/terrain/climb_18/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -1.00603159 -0.50373294 0.00000000
+v -1.00603159 -0.50373294 0.64000000
+v -1.24327379 0.41616713 0.00000000
+v -1.24327379 0.41616713 0.64000000
+v 0.54327379 -0.10416713 0.00000000
+v 0.54327379 -0.10416713 0.64000000
+v 0.30603159 0.81573294 0.00000000
+v 0.30603159 0.81573294 0.64000000
+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
diff --git a/models/terrain/climb_18/box_models/box2.obj b/models/terrain/climb_18/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_18/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_18/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_18/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_18/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_18/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_18/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_18/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_18/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_18/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_18/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_18/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_18/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_18/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_18/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_18/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_18/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_19/box_models/box1.obj b/models/terrain/climb_19/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b11741bb6203b60d713550eeb021532b11522c
--- /dev/null
+++ b/models/terrain/climb_19/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.94213074 -0.48725291 0.00000000
+v -0.94213074 -0.48725291 0.64000000
+v -1.17937294 0.43264715 0.00000000
+v -1.17937294 0.43264715 0.64000000
+v 0.99450098 0.01220435 0.00000000
+v 0.99450098 0.01220435 0.64000000
+v 0.75725878 0.93210442 0.00000000
+v 0.75725878 0.93210442 0.64000000
+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
diff --git a/models/terrain/climb_19/box_models/box2.obj b/models/terrain/climb_19/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_19/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_19/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_19/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_19/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
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+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_19/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_19/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_19/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
+
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+
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+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_19/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_19/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_19/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
+
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+
+
+
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+
+
+
+
+
+
+
+
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+
+
+
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+
+
+
\ No newline at end of file
diff --git a/models/terrain/climb_19/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_19/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_19/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_19/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_19/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_19/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_20/box_models/box1.obj b/models/terrain/climb_20/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d85863bafc70920770036e13fd3aae996ce37e
--- /dev/null
+++ b/models/terrain/climb_20/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 0.89000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 0.89000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 0.89000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 0.89000000
+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
diff --git a/models/terrain/climb_20/box_models/box2.obj b/models/terrain/climb_20/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_20/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_20/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_20/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_20/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_20/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_20/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_20/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_20/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_20/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_20/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_20/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_20/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_20/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_20/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_20/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_20/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_21/box_models/box1.obj b/models/terrain/climb_21/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d85863bafc70920770036e13fd3aae996ce37e
--- /dev/null
+++ b/models/terrain/climb_21/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 0.89000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 0.89000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 0.89000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 0.89000000
+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
diff --git a/models/terrain/climb_21/box_models/box2.obj b/models/terrain/climb_21/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_21/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_21/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_21/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_21/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_21/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_21/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_21/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_21/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_21/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_21/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_21/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_21/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_21/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_21/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_21/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_21/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_22/box_models/box1.obj b/models/terrain/climb_22/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70be4c0f52ea4186027880fd4fc87f9c3aceee9e
--- /dev/null
+++ b/models/terrain/climb_22/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 0.97000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 0.97000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 0.97000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 0.97000000
+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
diff --git a/models/terrain/climb_22/box_models/box2.obj b/models/terrain/climb_22/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_22/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_22/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_22/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_22/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_22/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_22/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_22/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_22/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_22/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_22/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_22/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_22/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_22/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_22/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_22/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_22/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_23/box_models/box1.obj b/models/terrain/climb_23/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70be4c0f52ea4186027880fd4fc87f9c3aceee9e
--- /dev/null
+++ b/models/terrain/climb_23/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 0.97000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 0.97000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 0.97000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 0.97000000
+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
diff --git a/models/terrain/climb_23/box_models/box2.obj b/models/terrain/climb_23/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_23/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_23/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_23/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_23/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_23/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_23/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_23/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_23/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_23/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_23/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_23/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_23/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_23/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_23/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_23/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_23/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_24/box_models/box1.obj b/models/terrain/climb_24/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70be4c0f52ea4186027880fd4fc87f9c3aceee9e
--- /dev/null
+++ b/models/terrain/climb_24/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 0.97000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 0.97000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 0.97000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 0.97000000
+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
diff --git a/models/terrain/climb_24/box_models/box2.obj b/models/terrain/climb_24/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_24/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_24/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_24/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_24/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_24/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_24/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_24/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_24/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_24/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_24/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_24/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_24/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_24/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_24/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_24/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_24/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_25/box_models/box1.obj b/models/terrain/climb_25/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372457f88790c6605350360fc018567b725b7c84
--- /dev/null
+++ b/models/terrain/climb_25/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 1.13000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 1.13000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 1.13000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 1.13000000
+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
diff --git a/models/terrain/climb_25/box_models/box2.obj b/models/terrain/climb_25/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_25/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_25/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_25/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_25/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_25/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_25/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_25/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_25/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_25/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_25/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
+
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+
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+
+
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+
+
+
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+
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\ No newline at end of file
diff --git a/models/terrain/climb_25/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_25/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_25/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
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+
+
+
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+
+
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+
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\ No newline at end of file
diff --git a/models/terrain/climb_25/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_25/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_25/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
+
+
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+
+
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+
\ No newline at end of file
diff --git a/models/terrain/climb_26/box_models/box1.obj b/models/terrain/climb_26/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372457f88790c6605350360fc018567b725b7c84
--- /dev/null
+++ b/models/terrain/climb_26/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 1.13000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 1.13000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 1.13000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 1.13000000
+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
diff --git a/models/terrain/climb_26/box_models/box2.obj b/models/terrain/climb_26/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_26/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_26/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_26/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_26/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_26/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_26/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_26/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_26/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_26/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_26/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_26/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_26/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_26/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_26/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_26/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_26/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_27/box_models/box1.obj b/models/terrain/climb_27/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372457f88790c6605350360fc018567b725b7c84
--- /dev/null
+++ b/models/terrain/climb_27/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 1.13000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 1.13000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 1.13000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 1.13000000
+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
diff --git a/models/terrain/climb_27/box_models/box2.obj b/models/terrain/climb_27/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_27/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_27/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_27/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_27/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_27/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_27/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_27/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_27/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_27/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_27/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_27/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_27/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_27/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/climb_27/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_27/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_27/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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diff --git a/models/terrain/climb_28/box_models/box1.obj b/models/terrain/climb_28/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187bea1a8f837c2a98b19a301479569a4e77e401
--- /dev/null
+++ b/models/terrain/climb_28/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v -0.93969476 -0.46967867 0.00000000
+v -0.93969476 -0.46967867 1.28000000
+v -1.17693696 0.45022140 0.00000000
+v -1.17693696 0.45022140 1.28000000
+v 0.99693696 0.02977860 0.00000000
+v 0.99693696 0.02977860 1.28000000
+v 0.75969476 0.94967867 0.00000000
+v 0.75969476 0.94967867 1.28000000
+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
diff --git a/models/terrain/climb_28/box_models/box2.obj b/models/terrain/climb_28/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d4995bfa0c0629df8bb3529553cfca457fec78
--- /dev/null
+++ b/models/terrain/climb_28/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -2.50000000 -2.50000000 0.00000000
+v -2.50000000 -2.50000000 0.10000000
+v -2.50000000 2.50000000 0.00000000
+v -2.50000000 2.50000000 0.10000000
+v 2.50000000 -2.50000000 0.00000000
+v 2.50000000 -2.50000000 0.10000000
+v 2.50000000 2.50000000 0.00000000
+v 2.50000000 2.50000000 0.10000000
+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
diff --git a/models/terrain/climb_28/multi_boxes_z_scale_0.8.urdf b/models/terrain/climb_28/multi_boxes_z_scale_0.8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..412e4b321f8c798ef5584e598c80af94dae6e386
--- /dev/null
+++ b/models/terrain/climb_28/multi_boxes_z_scale_0.8.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_28/multi_boxes_z_scale_0.9.urdf b/models/terrain/climb_28/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/climb_28/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_28/multi_boxes_z_scale_1.0.urdf b/models/terrain/climb_28/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/climb_28/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_28/multi_boxes_z_scale_1.1.urdf b/models/terrain/climb_28/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/climb_28/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
+
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\ No newline at end of file
diff --git a/models/terrain/climb_28/multi_boxes_z_scale_1.2.urdf b/models/terrain/climb_28/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/climb_28/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
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+
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+
+
+
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+
+
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+
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\ No newline at end of file
diff --git a/models/terrain/scene_00/box_models/box1.obj b/models/terrain/scene_00/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35c5b38e5bd7946594856b3a50b6995b667b33c
--- /dev/null
+++ b/models/terrain/scene_00/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.37000000
+v 0.38282943 -2.77479532 1.32000000
+v -0.35416340 -1.95819163 -0.37000000
+v -0.35416340 -1.95819163 1.32000000
+v 1.86756340 -1.43480837 -0.37000000
+v 1.86756340 -1.43480837 1.32000000
+v 1.13057057 -0.61820468 -0.37000000
+v 1.13057057 -0.61820468 1.32000000
+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
diff --git a/models/terrain/scene_00/box_models/box2.obj b/models/terrain/scene_00/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_00/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_00/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_00/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_00/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_00/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_00/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_00/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_00/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_00/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_00/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_00/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_00/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_00/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_01/box_models/box1.obj b/models/terrain/scene_01/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35c5b38e5bd7946594856b3a50b6995b667b33c
--- /dev/null
+++ b/models/terrain/scene_01/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.37000000
+v 0.38282943 -2.77479532 1.32000000
+v -0.35416340 -1.95819163 -0.37000000
+v -0.35416340 -1.95819163 1.32000000
+v 1.86756340 -1.43480837 -0.37000000
+v 1.86756340 -1.43480837 1.32000000
+v 1.13057057 -0.61820468 -0.37000000
+v 1.13057057 -0.61820468 1.32000000
+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
diff --git a/models/terrain/scene_01/box_models/box2.obj b/models/terrain/scene_01/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_01/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_01/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_01/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_01/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_01/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_01/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_01/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_01/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_01/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_01/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_01/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_01/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_01/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_02/box_models/box1.obj b/models/terrain/scene_02/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35c5b38e5bd7946594856b3a50b6995b667b33c
--- /dev/null
+++ b/models/terrain/scene_02/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.37000000
+v 0.38282943 -2.77479532 1.32000000
+v -0.35416340 -1.95819163 -0.37000000
+v -0.35416340 -1.95819163 1.32000000
+v 1.86756340 -1.43480837 -0.37000000
+v 1.86756340 -1.43480837 1.32000000
+v 1.13057057 -0.61820468 -0.37000000
+v 1.13057057 -0.61820468 1.32000000
+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
diff --git a/models/terrain/scene_02/box_models/box2.obj b/models/terrain/scene_02/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_02/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_02/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_02/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_02/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_02/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_02/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_02/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_02/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_02/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_02/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_02/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_02/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_02/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_03/box_models/box1.obj b/models/terrain/scene_03/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35c5b38e5bd7946594856b3a50b6995b667b33c
--- /dev/null
+++ b/models/terrain/scene_03/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.37000000
+v 0.38282943 -2.77479532 1.32000000
+v -0.35416340 -1.95819163 -0.37000000
+v -0.35416340 -1.95819163 1.32000000
+v 1.86756340 -1.43480837 -0.37000000
+v 1.86756340 -1.43480837 1.32000000
+v 1.13057057 -0.61820468 -0.37000000
+v 1.13057057 -0.61820468 1.32000000
+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
diff --git a/models/terrain/scene_03/box_models/box2.obj b/models/terrain/scene_03/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_03/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_03/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_03/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_03/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_03/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_03/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_03/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_03/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_03/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_03/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_03/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_03/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_03/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
+
+
+
+
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+
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\ No newline at end of file
diff --git a/models/terrain/scene_04/box_models/box1.obj b/models/terrain/scene_04/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760d983c6485bda1ee1133c42e360bac3c781437
--- /dev/null
+++ b/models/terrain/scene_04/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.63500000
+v 0.38282943 -2.77479532 1.05500000
+v -0.35416340 -1.95819163 -0.63500000
+v -0.35416340 -1.95819163 1.05500000
+v 1.86756340 -1.43480837 -0.63500000
+v 1.86756340 -1.43480837 1.05500000
+v 1.13057057 -0.61820468 -0.63500000
+v 1.13057057 -0.61820468 1.05500000
+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
diff --git a/models/terrain/scene_04/box_models/box2.obj b/models/terrain/scene_04/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fe4e7344e97d054991a61b85726ead31400cc9
--- /dev/null
+++ b/models/terrain/scene_04/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -0.97234219 1.20429235 -0.40000000
+v -0.97234219 1.20429235 0.10000000
+v 2.94429235 4.31234219 -0.40000000
+v 2.94429235 4.31234219 0.10000000
+v 2.13570765 -2.71234219 -0.40000000
+v 2.13570765 -2.71234219 0.10000000
+v 6.05234219 0.39570765 -0.40000000
+v 6.05234219 0.39570765 0.10000000
+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
diff --git a/models/terrain/scene_04/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_04/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_04/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_04/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_04/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_04/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_04/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_04/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_04/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_04/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_04/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_04/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file
diff --git a/models/terrain/scene_05/box_models/box1.obj b/models/terrain/scene_05/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1023109773987efbc710f5e75f90f56b55809e0
--- /dev/null
+++ b/models/terrain/scene_05/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.38282943 -2.77479532 -0.57500000
+v 0.38282943 -2.77479532 1.05500000
+v -0.35416340 -1.95819163 -0.57500000
+v -0.35416340 -1.95819163 1.05500000
+v 1.86756340 -1.43480837 -0.57500000
+v 1.86756340 -1.43480837 1.05500000
+v 1.13057057 -0.61820468 -0.57500000
+v 1.13057057 -0.61820468 1.05500000
+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
diff --git a/models/terrain/scene_05/box_models/box2.obj b/models/terrain/scene_05/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_05/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_05/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_05/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_05/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_05/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_05/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_05/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_05/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_05/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_05/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_05/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_05/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_05/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_06/box_models/box1.obj b/models/terrain/scene_06/box_models/box1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0030b04f3b4438f0351581dbfd53d122be8bbee4
--- /dev/null
+++ b/models/terrain/scene_06/box_models/box1.obj
@@ -0,0 +1,21 @@
+# box1 - Box 1 from multi_boxes.obj (filtered)
+v 0.34297155 -2.73063194 -0.63500000
+v 0.34297155 -2.73063194 1.05500000
+v -0.39402128 -1.91402826 -0.63500000
+v -0.39402128 -1.91402826 1.05500000
+v 1.82770552 -1.39064499 -0.63500000
+v 1.82770552 -1.39064499 1.05500000
+v 1.09071269 -0.57404130 -0.63500000
+v 1.09071269 -0.57404130 1.05500000
+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
diff --git a/models/terrain/scene_06/box_models/box2.obj b/models/terrain/scene_06/box_models/box2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a296313651e368e3bbfaadcf55df3fbb06c56
--- /dev/null
+++ b/models/terrain/scene_06/box_models/box2.obj
@@ -0,0 +1,21 @@
+# box2 - Box 2 from multi_boxes.obj (filtered)
+v -1.79234219 2.22429235 -0.40000000
+v -1.79234219 2.22429235 0.10000000
+v 2.12429235 5.33234219 -0.40000000
+v 2.12429235 5.33234219 0.10000000
+v 1.31570765 -1.69234219 -0.40000000
+v 1.31570765 -1.69234219 0.10000000
+v 5.23234219 1.41570765 -0.40000000
+v 5.23234219 1.41570765 0.10000000
+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
diff --git a/models/terrain/scene_06/multi_boxes_z_scale_0.9.urdf b/models/terrain/scene_06/multi_boxes_z_scale_0.9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da7908bad1864b4277220dbc6560ff69943c126c
--- /dev/null
+++ b/models/terrain/scene_06/multi_boxes_z_scale_0.9.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_06/multi_boxes_z_scale_1.0.urdf b/models/terrain/scene_06/multi_boxes_z_scale_1.0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59d901118c4fb3b12a4e632f6d216862f93550dc
--- /dev/null
+++ b/models/terrain/scene_06/multi_boxes_z_scale_1.0.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_06/multi_boxes_z_scale_1.1.urdf b/models/terrain/scene_06/multi_boxes_z_scale_1.1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..423c800567502626357bfa98f05a9530a31570b1
--- /dev/null
+++ b/models/terrain/scene_06/multi_boxes_z_scale_1.1.urdf
@@ -0,0 +1,71 @@
+
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\ No newline at end of file
diff --git a/models/terrain/scene_06/multi_boxes_z_scale_1.2.urdf b/models/terrain/scene_06/multi_boxes_z_scale_1.2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55ab5d5c5ef22d6ed3dfb1b220f41a2ceb94b454
--- /dev/null
+++ b/models/terrain/scene_06/multi_boxes_z_scale_1.2.urdf
@@ -0,0 +1,71 @@
+
+
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\ No newline at end of file