some_world9.world

<sdf version='1.6'>
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      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.5 0.1 -0.9</direction>
    </light>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
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      <max_step_size>0.01</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>100</real_time_update_rate>
    </physics>
    <model name='bookshelf'>
      <static>1</static>
      <link name='link'>
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name='back'>
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            </box>
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              <size>0.9 0.01 1.2</size>
            </box>
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            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
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        </visual>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
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        </visual>
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        </visual>
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        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
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    </model>
    <model name='jersey_barrier'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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        <gravity>1</gravity>
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      <pose frame=''>-4 -1 0 0 -0 -0.7</pose>
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    <state world_name='default'>
      <sim_time>1695 520000000</sim_time>
      <real_time>458 365301717</real_time>
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            <topic>__default_topic__</topic>
          </contact>
          <pose frame=''>0 0 0.0102 0 -0 0</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='camera' type='depth'>
          <always_on>1</always_on>
          <update_rate>20</update_rate>
          <camera name='__default__'>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <format>B8G8R8</format>
              <width>2560</width>
              <height>1920</height>
            </image>
            <clip>
              <near>0.05</near>
              <far>20</far>
            </clip>
          </camera>
          <plugin name='kinect_camera_controller' filename='libgazebo_ros_openni_kinect.so'>
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>20</updateRate>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <frameName>camera_depth_optical_frame</frameName>
            <baseline>0.1</baseline>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
            <pointCloudCutoff>0.4</pointCloudCutoff>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-0.022 -0 0.5172 0 0 -1.5708</pose>
        </sensor>
        <velocity_decay/>
        <velocity_decay/>
        <velocity_decay/>
        <sensor name='cliff_sensor_front' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.156 0 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_left' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.08734 0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_right' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.085 -0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <sensor name='imu' type='imu'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>0</visualize>
          <imu>
            <angular_velocity>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </z>
            </angular_velocity>
            <linear_acceleration>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </z>
            </linear_acceleration>
          </imu>
          <pose frame=''>0.056 0.062 0.0304 0 -0 0</pose>
        </sensor>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_left_link'>
        <pose frame=''>0 0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_left_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.0352</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_left_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_left_joint' type='revolute'>
        <child>wheel_left_link</child>
        <parent>base_footprint</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wheel_right_link'>
        <pose frame=''>0 -0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_right_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.035</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_right_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_right_joint' type='revolute'>
        <child>wheel_right_link</child>
        <parent>base_footprint</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name='kobuki_controller' filename='libgazebo_ros_kobuki.so'>
        <publish_tf>1</publish_tf>
        <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
        <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
        <wheel_separation>.230</wheel_separation>
        <wheel_diameter>0.070</wheel_diameter>
        <torque>1.0</torque>
        <velocity_command_timeout>0.6</velocity_command_timeout>
        <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
        <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>
        <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
        <cliff_detection_threshold>0.04</cliff_detection_threshold>
        <bumper_name>bumpers</bumper_name>
        <imu_name>imu</imu_name>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>0 0 0 0 -0 0</pose>
    </model>
    <model name='my_ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>40 40</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>40 40</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>model://my_ground_plane/materials/scripts</uri>
              <uri>model://my_ground_plane/materials/textures</uri>
              <name>MyGroundPlane/Image</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>7.8727 0.914219 0 0 -0 0</pose>
    </model>
    <model name='cafe'>
      <static>1</static>
      <link name='link'>
        <collision name='main_floor'>
          <pose frame=''>-0.4 -0.75 0.0948 0 -0 0</pose>
          <geometry>
            <box>
              <size>9.38 22.63 0.19</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_1'>
          <pose frame=''>-5.03 0.53 1.415 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.12 23.16 2.83</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_2'>
          <pose frame=''>4.24 -0.31 1.415 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.12 21.48 2.83</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_3'>
          <pose frame=''>-1.48 7.43 1.415 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.2 0.12 2.83</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_4'>
          <pose frame=''>2.09 8.9 1.435 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.12 3.05 2.87</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_5'>
          <pose frame=''>3.155 10.4 1.435 0 -0 0</pose>
          <geometry>
            <box>
              <size>2.13 0.12 2.87</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_6'>
          <pose frame=''>0.615 -10.98 1.415 0 -0 0</pose>
          <geometry>
            <box>
              <size>7.36 0.15 2.83</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_7'>
          <pose frame=''>-4.62 -10.98 1.415 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.93 0.15 2.83</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='wall_8'>
          <pose frame=''>-3.61 -10.98 2.69 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.09 0.15 0.28</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='coke'>
          <pose frame=''>-4.385 0.26 0.95 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.03 1.03 1.52</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://cafe/meshes/cafe.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>16.6447 0.14149 0 0 -0 0</pose>
    </model>
    <model name='cabinet'>
      <static>1</static>
      <link name='cabinet_bottom_plate'>
        <inertial>
          <pose frame=''>0 0 -1 0 -0 0</pose>
          <inertia>
            <ixx>2.05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.05</iyy>
            <iyz>0</iyz>
            <izz>2.05</izz>
          </inertia>
          <mass>25</mass>
        </inertial>
        <collision name='cabinet_bottom_plate_geom'>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='cabinet_bottom_plate_geom_visual'>
          <pose frame=''>0 0 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.45 1.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.45 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.02 1.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
          <pose frame=''>0 0 0.51 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.45 0.45 0.02</size>
            </box>
          </geometry>
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            <script>
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            <izz>0.00019</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-2.31468 -2.24301 0 0 -0 0</pose>
    </model>
    <model name='my_ground_plane_0'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>40 40</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>40 40</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>model://my_ground_plane/materials/scripts</uri>
              <uri>model://my_ground_plane/materials/textures</uri>
              <name>MyGroundPlane/Image</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-30.0034 0.992726 0 0 -0 0</pose>
    </model>
    <model name='calibration_plane'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://calibration_plane/meshes/calibration_plane.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-7.4802 1.84929 0 0 -0 0</pose>
    </model>
    <model name='Mailbox_0'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://mailbox/meshes/mailbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://mailbox/meshes/mailbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://mailbox/materials/scripts</uri>
              <uri>model://mailbox/materials/textures</uri>
              <name>Mailbox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-7.72776 6.72591 0 0 -0 0</pose>
    </model>
    <model name='Office Building'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://office_building/meshes/office_building.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://office_building/meshes/office_building.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-37.1349 -0.971433 0 0 -0 0</pose>
    </model>
    <model name='oak_tree_1'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://oak_tree/meshes/oak_tree.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='branch'>
          <geometry>
            <mesh>
              <uri>model://oak_tree/meshes/oak_tree.dae</uri>
              <submesh>
                <name>Branch</name>
              </submesh>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://oak_tree/materials/scripts/</uri>
              <uri>model://oak_tree/materials/textures/</uri>
              <name>OakTree/Branch</name>
            </script>
          </material>
        </visual>
        <visual name='bark'>
          <geometry>
            <mesh>
              <uri>model://oak_tree/meshes/oak_tree.dae</uri>
              <submesh>
                <name>Bark</name>
              </submesh>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://oak_tree/materials/scripts/</uri>
              <uri>model://oak_tree/materials/textures/</uri>
              <name>OakTree/Bark</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-25.3526 -12.1972 0 0 -0 0</pose>
    </model>
    <model name='Dumpster_clone'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>9.00467 -1.47317 0.000784 3e-06 0.000204 0</pose>
      <static>0</static>
    </model>
  </world>
</sdf>