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<?xml version="1.0"?>
<sdf version='1.7'>
<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 type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<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>
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</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>
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