bug
/
office_gzweb
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
office_gzweb/turtlebot3_simulations/turtlebot3_gazebo/worlds/office.sdf

3630 lines
106 KiB
XML
Executable File
Raw Permalink Blame History

<?xml version="1.0"?>
<sdf version='1.9'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>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>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</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>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
</plugin>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
</plugin>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
</plugin>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='WaterDispenser'>
<static>1</static>
<link name='link'>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
</inertial>
<collision name='collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://WaterDispenser/meshes/water_dispenser.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>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://WaterDispenser/meshes/water_dispenser.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-4.56499 -5.07564 0 0 -0 0</pose>
</model>
<model name='toilet'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<pose>-0.003873 0.134001 0.582097 0 -0 0</pose>
<geometry>
<box>
<size>0.551631 1.09406 1.18218</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://toilet/meshes/toilet.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-4.00189 -2.76084 0 0 -0 0</pose>
</model>
<model name='Desk'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://office_desk/meshes/office_desk.dae</uri>
<scale>1.4 1.4 1.4</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_desk/meshes/office_desk.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.427528 -3.64916 0 0 -0 0</pose>
</model>
<model name='Desk_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://office_desk/meshes/office_desk.dae</uri>
<scale>1.4 1.4 1.4</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_desk/meshes/office_desk.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>3.06034 -3.4808 0 0 -0 0</pose>
</model>
<model name='office_lamp'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://office_lamp/meshes/office_lamp.dae</uri>
<scale>1.4 1.4 1.4</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_lamp/meshes/office_lamp.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.584571 -4.97822 0 0 -0 0</pose>
</model>
<model name='book_10'>
<link name='cover'>
<pose>0 -0.000108 0.015405 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<material>
<script>
<uri>model://book_10/materials/scripts</uri>
<uri>model://book_10/materials/textures</uri>
<name>book_10</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<enable_wind>0</enable_wind>
</link>
<link name='page'>
<pose>0 0.000608 0.015405 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.24502 0.15862 0.028</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>0.986941 -4.8154 0 0 -0 0</pose>
</model>
<model name='book_2'>
<link name='cover'>
<pose>0 -0.000108 0.015405 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<material>
<script>
<uri>model://book_2/materials/scripts</uri>
<uri>model://book_2/materials/textures</uri>
<name>book_2</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<enable_wind>0</enable_wind>
</link>
<link name='page'>
<pose>0 0.000608 0.015405 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.24502 0.15862 0.028</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.245 0.16 0.03</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>4.76142 -4.40443 0 0 -0 0</pose>
</model>
<model name='bookshelf_large'>
<link name='link_1'>
<pose>-0.000121 -2.1e-05 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://bookshelf_large/meshes/frame.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://bookshelf_large/materials/scripts</uri>
<uri>model://bookshelf_large/materials/textures</uri>
<name>bookshelf</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://bookshelf_large/meshes/frame.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2'>
<pose>0.000122 2.1e-05 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://bookshelf_large/meshes/glass.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0.3 0.7 0.8 1</ambient>
<diffuse>0.3 0.9 0.9 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0.5</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://bookshelf_large/meshes/glass.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>6.46917 -2.20392 0 0 -0 0</pose>
</model>
<model name='office_chair_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<pose>0.001581 0.000308 0.569888 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.43</radius>
<length>1.14</length>
</cylinder>
</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_chair/meshes/office_chair.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.177787 0.086613 0 0 -0 0</pose>
</model>
<model name='labtop_mac_2'>
<link name='link_0'>
<pose>-7e-05 -0.001031 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0.6 0.6 0.6 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_1'>
<pose>0.000643 0.000126 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/keys.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/keys.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_3'>
<pose>-0.000573 -0.000392 0.000332 0 -0 0</pose>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/screen.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://labtop_mac_2/materials/scripts</uri>
<uri>model://labtop_mac_2/materials/textures</uri>
<name>labtop_screen_2</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/screen.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>2.62928 0.770772 0 0 -0 0</pose>
</model>
<model name='file_1_clone'>
<link name='link_0'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0.4 0.1 0.1 1</ambient>
<diffuse>0.4 0 0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<mesh>
<uri>model://file_1/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_1'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/ring.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>0.6 0.6 0.6 1</ambient>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://file_1/meshes/ring.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>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/tag.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<mesh>
<uri>model://file_1/meshes/tag.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>5.6715 2.44615 0.934587 0 0 -1.5823</pose>
</model>
<state world_name='default'>
<sim_time>3483 667000000</sim_time>
<real_time>809 419854110</real_time>
<wall_time>1755635375 904074563</wall_time>
<iterations>808248</iterations>
<model name='Desk'>
<pose>1.20832 3.48065 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.20832 3.48065 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='Desk_clone'>
<pose>-2.9805 3.41024 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-2.9805 3.41024 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='WaterDispenser'>
<pose>-1.73324 -2.1442 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-1.73324 -2.1442 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='book_10'>
<pose>-2.8831 3.22533 1.04702 0 -0 1.43256</pose>
<scale>1 1 1</scale>
<link name='cover'>
<pose>-2.88299 3.22531 1.06242 0 -0 1.43256</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='page'>
<pose>-2.8837 3.22541 1.06242 0 -0 1.43256</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='book_2'>
<pose>2.02368 3.14608 1.02892 0 -0 1.55345</pose>
<scale>1 1 1</scale>
<link name='cover'>
<pose>2.02379 3.14608 1.04432 0 -0 1.55345</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='page'>
<pose>2.02307 3.14609 1.04432 0 -0 1.55345</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='bookshelf_large'>
<pose>1.90472 4.6668 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_1'>
<pose>1.9046 4.66678 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose>1.90484 4.66682 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='bowl'>
<pose>1.21197 -1.98336 0.657495 5e-05 1.4e-05 -0.382459</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.21197 -1.98336 0.657495 5e-05 1.4e-05 -0.382459</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 -9.8 0 -0 0</acceleration>
<wrench>0 0 -0.98 0 -0 0</wrench>
</link>
</model>
<model name='coca_cola'>
<pose>1.22909 -1.83913 0.585324 -1.1e-05 1.7e-05 0.717497</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.22909 -1.83913 0.700324 -1.1e-05 1.7e-05 0.717497</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 -9.8 0 -0 0</acceleration>
<wrench>0 0 -3.822 0 -0 0</wrench>
</link>
</model>
<model name='donut_frost_1'>
<pose>1.21715 -1.98413 0.677797 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_7'>
<pose>1.21715 -1.98413 0.677797 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_8'>
<pose>1.21715 -1.98413 0.677797 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_9'>
<pose>1.21715 -1.98413 0.677797 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='elegant_female'>
<pose>-5.04462 4.40098 0 0 -0 0.638045</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-5.04462 4.40098 0 0 -0 0.638045</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='file_1_clone'>
<pose>1.4565 4.63713 0.939475 0 0 -1.5823</pose>
<scale>1 1 1</scale>
<link name='link_0'>
<pose>1.4565 4.63713 0.939475 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose>1.4565 4.63713 0.939475 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose>1.4565 4.63713 0.939475 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='file_1_clone_clone'>
<pose>1.57906 4.63779 0.931694 0 0 -1.5823</pose>
<scale>1 1 1</scale>
<link name='link_0'>
<pose>1.57906 4.63779 0.931694 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose>1.57906 4.63779 0.931694 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose>1.57906 4.63779 0.931694 0 0 -1.5823</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='labtop_mac_2'>
<pose>1.11643 2.96048 1.0566 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_0'>
<pose>1.11636 2.95945 1.0566 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose>1.11707 2.96061 1.0566 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_3'>
<pose>1.11586 2.96009 1.05693 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='labtop_mac_2_clone'>
<pose>-2.6932 3.06452 1.0566 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_0'>
<pose>-2.69327 3.06349 1.0566 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_1'>
<pose>-2.69256 3.06465 1.0566 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_3'>
<pose>-2.69377 3.06413 1.05693 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='office_chair_0'>
<pose>-2.90169 2.46556 0 0 0 -3.12108</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-2.90169 2.46556 -0 0 0 -3.12108</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='office_chair_0_clone_0'>
<pose>1.23018 2.72515 0 0 0 -3.12108</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.23018 2.72515 0 0 0 -3.12108</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='office_couch'>
<pose>1.69431 -0.969811 0 0 0 -1.56591</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.69431 -0.969811 0 0 0 -1.56591</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='office_lamp'>
<pose>1.83406 3.57012 1.06016 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>1.83406 3.57012 1.06016 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='office_lamp_clone_0'>
<pose>-3.53459 3.20905 1.06016 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-3.53459 3.20905 1.06016 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='refrigerator'>
<pose>-1.62808 0.269967 0 0 -0 1.53603</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-1.62808 0.269967 0 0 -0 1.53603</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='side_table_1'>
<pose>1.24859 -1.92135 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link_1'>
<pose>1.25638 -2.08927 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2'>
<pose>1.25648 -2.08917 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2_clone'>
<pose>1.45662 -1.86948 0 0 -0 1.57</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2_clone_0'>
<pose>1.03636 -1.88959 0 0 0 -1.57</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='link_2_clone_clone'>
<pose>1.23714 -1.66922 0 0 -0 3.14</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='structure_2'>
<pose>-1.30571 1.20124 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='Wall_0'>
<pose>-5.73792 1.20124 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_1'>
<pose>-1.31293 5.12624 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_11'>
<pose>-2.13533 0.211766 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_13'>
<pose>-2.15519 -2.25738 0 0 -0 1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_14'>
<pose>-2.15519 -2.25738 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_17'>
<pose>2.3265 0.72508 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_19'>
<pose>-1.11039 4.0699 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_2'>
<pose>3.11208 1.20124 0 0 0 -1.5708</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_3'>
<pose>-1.31293 -2.72376 0 0 -0 3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_7'>
<pose>-3.93532 0.761765 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='toilet'>
<pose>-4.89177 -1.11048 0 0 -0 1.58574</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-4.89177 -1.11048 0 0 -0 1.58574</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-1.73818 -3.27135 19.6116 3.14159 1.57079 3.14159</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='office_chair_0_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<pose>0.001581 0.000308 0.569888 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.43</radius>
<length>1.14</length>
</cylinder>
</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_chair/meshes/office_chair.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2.52647 2.67481 -0 0 0 -3.12108</pose>
</model>
<model name='office_lamp_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://office_lamp/meshes/office_lamp.dae</uri>
<scale>1.4 1.4 1.4</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_lamp/meshes/office_lamp.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-3.53459 3.20905 1.06016 0 -0 0</pose>
</model>
<model name='labtop_mac_2_clone'>
<link name='link_0'>
<pose>-7e-05 -0.001031 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0.6 0.6 0.6 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_1'>
<pose>0.000643 0.000126 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/keys.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/keys.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_3'>
<pose>-0.000573 -0.000392 0.000332 0 -0 0</pose>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/screen.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://labtop_mac_2/materials/scripts</uri>
<uri>model://labtop_mac_2/materials/textures</uri>
<name>labtop_screen_2</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://labtop_mac_2/meshes/screen.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>-2.6932 3.06452 1.0566 0 -0 0</pose>
</model>
<model name='file_1_clone_clone'>
<link name='link_0'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>0.4 0.1 0.1 1</ambient>
<diffuse>0.4 0 0 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<mesh>
<uri>model://file_1/meshes/body.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_1'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/ring.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<ambient>0.6 0.6 0.6 1</ambient>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://file_1/meshes/ring.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>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://file_1/meshes/tag.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<geometry>
<mesh>
<uri>model://file_1/meshes/tag.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>3.37812 5.08529 0.939475 0 0 -1.5823</pose>
</model>
<model name='coca_cola'>
<link name='link'>
<pose>0 0 0.115 0 -0 0</pose>
<inertial>
<mass>0.39</mass>
<inertia>
<ixx>0.00058</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00058</iyy>
<iyz>0</iyz>
<izz>0.00019</izz>
</inertia>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.0301625</radius>
<length>0.12065</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='bodyMesh'>
<geometry>
<mesh>
<uri>model://coca_cola/meshes/coke.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>1.09441 0.153693 0 0 -0 0</pose>
</model>
<model name='bowl'>
<link name='link'>
<inertial>
<mass>0.1</mass>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.098</radius>
<length>0.035</length>
</cylinder>
</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://bowl/meshes/bowl.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>0.360642 -0.320006 0 0 -0 0</pose>
</model>
<model name='donut_frost_1'>
<link name='link_7'>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_bread.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.843 0.709 0.356 1</ambient>
<diffuse>0.843 0.709 0.356 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_bread.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_8'>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_frost.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.835 0.254 0.827 1</ambient>
<diffuse>0.835 0.254 0.827 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_frost.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_9'>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_dust.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.45 0.909 0.964 1</ambient>
<diffuse>0.45 0.909 0.345 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://donut_frost_1/meshes/donut2_dust.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>-0.614711 -0.066463 0 0 -0 0</pose>
</model>
<model name='structure_2'>
<pose>-1.14779 3.195 0 0 -0 0</pose>
<link name='Wall_0'>
<pose>-4.43221 -0 0 0 -0 1.5708</pose>
<visual name='Wall_0_Visual_0'>
<pose>-3.31704 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.36591 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_0'>
<geometry>
<box>
<size>1.36591 0.15 2.5</size>
</box>
</geometry>
<pose>-3.31704 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual_1'>
<pose>0.682957 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>6.63408 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_1'>
<geometry>
<box>
<size>6.63408 0.15 0.5</size>
</box>
</geometry>
<pose>0.682957 0 0.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual_2'>
<pose>-0.244853 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>3.17846 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_2'>
<geometry>
<box>
<size>3.17846 0.15 2</size>
</box>
</geometry>
<pose>-0.244853 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual_3'>
<pose>3.07219 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>1.85562 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_3'>
<geometry>
<box>
<size>1.85562 0.15 2</size>
</box>
</geometry>
<pose>3.07219 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual_4'>
<pose>-2.23408 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_4'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>-2.23408 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_0_Visual_5'>
<pose>1.74438 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_0_Collision_5'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>1.74438 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_1'>
<pose>-0.007213 3.925 0 0 -0 0</pose>
<visual name='Wall_1_Visual_0'>
<pose>-3.48213 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.03574 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_0'>
<geometry>
<box>
<size>2.03574 0.15 2.5</size>
</box>
</geometry>
<pose>-3.48213 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_1'>
<pose>1.01787 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>6.96426 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_1'>
<geometry>
<box>
<size>6.96426 0.15 0.5</size>
</box>
</geometry>
<pose>1.01787 0 0.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_2'>
<pose>0.167841 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>3.66421 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_2'>
<geometry>
<box>
<size>3.66421 0.15 2</size>
</box>
</geometry>
<pose>0.167841 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_3'>
<pose>3.64997 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>1.70006 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_3'>
<geometry>
<box>
<size>1.70006 0.15 2</size>
</box>
</geometry>
<pose>3.64997 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_4'>
<pose>-2.06426 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_4'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>-2.06426 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_1_Visual_5'>
<pose>2.39994 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_1_Collision_5'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>2.39994 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_11'>
<collision name='Wall_11_Collision'>
<geometry>
<box>
<size>1.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_11_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-0.829614 -0.989473 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_13'>
<collision name='Wall_13_Collision'>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_13_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-0.849472 -3.45862 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_14'>
<collision name='Wall_14_Collision'>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_14_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-0.849472 -3.45862 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_17'>
<collision name='Wall_17_Collision'>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_17_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>3.63221 -0.476159 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_19'>
<collision name='Wall_19_Collision'>
<geometry>
<box>
<size>2.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_19_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.195324 2.86866 0 0 -0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_2'>
<pose>4.41779 -0 0 0 -0 -1.5708</pose>
<visual name='Wall_2_Visual_0'>
<pose>-3.03749 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.92501 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_0'>
<geometry>
<box>
<size>1.92501 0.15 2.5</size>
</box>
</geometry>
<pose>-3.03749 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual_1'>
<pose>0.962506 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>6.07499 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_1'>
<geometry>
<box>
<size>6.07499 0.15 0.5</size>
</box>
</geometry>
<pose>0.962506 0 0.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual_2'>
<pose>0.175461 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>2.9009 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_2'>
<geometry>
<box>
<size>2.9009 0.15 2</size>
</box>
</geometry>
<pose>0.175461 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual_3'>
<pose>3.21296 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>1.57409 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_3'>
<geometry>
<box>
<size>1.57409 0.15 2</size>
</box>
</geometry>
<pose>3.21296 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual_4'>
<pose>-1.67499 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_4'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>-1.67499 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_2_Visual_5'>
<pose>2.02591 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_2_Collision_5'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>2.02591 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_3'>
<pose>-0.007213 -3.925 0 0 -0 3.14159</pose>
<visual name='Wall_3_Visual_0'>
<pose>-3.45336 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.09328 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_0'>
<geometry>
<box>
<size>2.09328 0.15 2.5</size>
</box>
</geometry>
<pose>-3.45336 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual_1'>
<pose>1.04664 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>6.90672 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_1'>
<geometry>
<box>
<size>6.90672 0.15 0.5</size>
</box>
</geometry>
<pose>1.04664 0 0.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual_2'>
<pose>0.22538 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>3.66421 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_2'>
<geometry>
<box>
<size>3.66421 0.15 2</size>
</box>
</geometry>
<pose>0.22538 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual_3'>
<pose>3.67874 0 1.5 0 -0 0</pose>
<geometry>
<box>
<size>1.64252 0.15 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_3'>
<geometry>
<box>
<size>1.64252 0.15 2</size>
</box>
</geometry>
<pose>3.67874 0 1.5 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual_4'>
<pose>-2.00672 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_4'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>-2.00672 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_3_Visual_5'>
<pose>2.45748 0 1.9 0 -0 0</pose>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_3_Collision_5'>
<geometry>
<box>
<size>0.8 0.15 1.2</size>
</box>
</geometry>
<pose>2.45748 0 1.9 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='Wall_7'>
<pose>-2.62961 -0.439474 0 0 -0 0</pose>
<visual name='Wall_7_Visual_0'>
<pose>-1.161 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.428 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_7_Collision_0'>
<geometry>
<box>
<size>1.428 0.15 2.5</size>
</box>
</geometry>
<pose>-1.161 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_7_Visual_1'>
<pose>1.164 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.422 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_7_Collision_1'>
<geometry>
<box>
<size>1.422 0.15 2.5</size>
</box>
</geometry>
<pose>1.164 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_7_Visual_2'>
<pose>0.003004 0 2.25 0 -0 0</pose>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Wall_7_Collision_2'>
<geometry>
<box>
<size>0.9 0.15 0.5</size>
</box>
</geometry>
<pose>0.003004 0 2.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
</model>
<model name='side_table_1'>
<link name='link_1'>
<pose>0.007786 -0.167928 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/middle.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://side_table_1/materials/scripts</uri>
<uri>model://side_table_1/materials/textures</uri>
<name>side_table_1</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/middle.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2'>
<pose>0.007887 -0.167821 0 0 -0 0</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://side_table_1/materials/scripts</uri>
<uri>model://side_table_1/materials/textures</uri>
<name>side_table_1</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2_clone'>
<pose>0.208023 0.051865 0 0 -0 1.57</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://side_table_1/materials/scripts</uri>
<uri>model://side_table_1/materials/textures</uri>
<name>side_table_1</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2_clone_0'>
<pose>-0.212235 0.031759 0 0 0 -1.57</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://side_table_1/materials/scripts</uri>
<uri>model://side_table_1/materials/textures</uri>
<name>side_table_1</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='link_2_clone_clone'>
<pose>-0.011459 0.252125 0 0 -0 3.14</pose>
<visual name='visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://side_table_1/materials/scripts</uri>
<uri>model://side_table_1/materials/textures</uri>
<name>side_table_1</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://side_table_1/meshes/leg.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
<pose>-0.589147 -0.299599 0 0 -0 0</pose>
</model>
<model name='office_couch'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<pose>0.000893 0.384169 0.704321 0 -0 0</pose>
<geometry>
<box>
<size>2.91435 0.976328 1.41768</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://office_couch/meshes/office_couch.dae</uri>
<scale>1.4 1.4 1.4</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>0.173033 -1.94409 0 0 -0 0</pose>
</model>
<model name='elegant_female'>
<static>1</static>
<link name='link'>
<collision name='box'>
<pose>0 0 0.9 0 -0 0</pose>
<geometry>
<box>
<size>0.76 0.33 1.77</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<pose>0 0 0.02 0.04 -0 0</pose>
<geometry>
<mesh>
<uri>model://elegant_female/meshes/elegant_female.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-1.5676 0.488102 0 0 -0 0</pose>
</model>
<model name='refrigerator'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<pose>-0.007078 0.009991 0.837838 0 -0 0</pose>
<geometry>
<box>
<size>0.781084 0.825312 1.66079</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://refrigerator/meshes/refrigerator.obj</uri>
<scale>0.01 0.01 0.01</scale>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-1.53527 0.269346 0 0 -0 0</pose>
</model>
</world>
</sdf>
Reference in New Issue View Git Blame Copy Permalink