<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.9">
  <world name="default">

    <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 filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact"/>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>

    <model name="aws_robomaker_warehouse_RoofB_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_RoofB_01</uri>
        </include>
        <pose frame="">0.0 0.0 0 0 0 0</pose>
	</model>

    <model name="aws_robomaker_warehouse_ShelfF_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
        </include>
        <pose frame="">-5.795143 -0.956635 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_WallB_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_WallB_01</uri>
        </include>
        <pose frame="">0.0 0.0 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_ShelfE_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
        </include>
        <pose frame="">4.73156 0.57943 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_ShelfE_01_002">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
        </include>
        <pose frame="">4.73156 -4.827049 0 0 0 0</pose>
	</model>
        
        <model name="aws_robomaker_warehouse_ShelfE_01_003">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfE_01</uri>
        </include>
        <pose frame="">4.73156 -8.6651 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_ShelfD_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
        </include>
        <pose frame="">4.73156 -1.242668 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_ShelfD_01_002">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
        </include>
        <pose frame="">4.73156 -3.038551 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_ShelfD_01_003">
        <include>
            <uri>model://aws_robomaker_warehouse_ShelfD_01</uri>
        </include>
        <pose frame="">4.73156 -6.750542 0 0 0 0</pose>
	</model>

        <model name="aws_robomaker_warehouse_GroundB_01_001">
        <include>
            <uri>model://aws_robomaker_warehouse_GroundB_01</uri>
        </include>
        <pose frame="">0.0 0.0 -0.090092 0 0 0</pose>
	</model> 
       
        <model name="aws_robomaker_warehouse_Lamp_01_005">
        <include>
            <uri>model://aws_robomaker_warehouse_Lamp_01</uri>
        </include>
        <pose frame="">0 0 -4 0 0 0</pose>
	</model>
       
        <model name="aws_robomaker_warehouse_Bucket_01_020">
        <include>
            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
        </include>
        <pose frame="">0.433449 9.631706 0 0 0 -1.563161</pose>
	</model>

        <model name="aws_robomaker_warehouse_Bucket_01_022">
        <include>
            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
        </include>
        <pose frame="">0.433449 8.59 0 0 0 -1.563161</pose>
	</model> 

  <model name='aws_robomaker_warehouse_ClutteringA_01_016'>
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
        </include>
        <pose frame=''>5.708138 8.616844 -0.017477 0 0 0</pose>
	</model>

      <model name='aws_robomaker_warehouse_ClutteringA_01_017'>
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
        </include>
        <pose frame=''>3.408638 8.616844 -0.017477 0 0 0</pose>
	</model>

      <model name='aws_robomaker_warehouse_ClutteringA_01_018'>
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
        </include>
        <pose frame=''>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
	</model>


     <model name="aws_robomaker_warehouse_ClutteringC_01_027">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">3.324959 3.822449 -0.012064 0 0 1.563871</pose>
	</model>

     <model name="aws_robomaker_warehouse_ClutteringC_01_028">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
	</model>

     <model name="aws_robomaker_warehouse_ClutteringC_01_029">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">5.384239 6.137154 0 0 0 3.150000</pose>
	</model>

     <model name="aws_robomaker_warehouse_ClutteringC_01_030">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">3.236 6.137154 0 0 0 3.150000</pose>
	</model>

     <model name="aws_robomaker_warehouse_ClutteringC_01_031">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
	</model>

     <model name="aws_robomaker_warehouse_ClutteringC_01_032">
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
        </include>
        <pose frame="">-1.2196 9.407 -0.015663 0 0 1.563871</pose>
	</model>

     <model name='aws_robomaker_warehouse_ClutteringD_01_005'>
        <include>
            <uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
        </include>
        <pose frame=''>-1.634682 -7.811813 -0.319559 0 0 0</pose>
	</model>
                                                 
      <model name='aws_robomaker_warehouse_TrashCanC_01_002'>
        <include>
            <uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
        </include>
        <pose frame=''>-1.592441 7.715420 0 0 0 0</pose>
	</model>


      <!-- <model name='aws_robomaker_warehouse_PalletJackB_01_001'>
        <include>
            <uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
        </include>
        <pose frame=''>-0.276098 -9.481944 0.023266 0 0 0</pose>
	</model>  -->

    	
    <light name="Warehouse_CeilingLight_003" type="point">
      <pose frame="">0 0 9 0 0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>800</range>
        <constant>0.2</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
      <direction>0.1 0.1 -1</direction>
    </light>

        <light type="directional" name="sun">
            <cast_shadows>true</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>
        </light>
        
        <model name="ground_plane">
            <static>true</static>
           <link name="link">
                <collision name="collision">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                        </plane>
                    </geometry>
                </collision>
                <visual name="visual">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                    <material>
                        <ambient>0.8 0.8 0.8 1</ambient>
                        <diffuse>0.8 0.8 0.8 1</diffuse>
                        <specular>0.8 0.8 0.8 1</specular>
                    </material>
                </visual>
            </link>
        </model>
  </world>
</sdf>
