<?xml version='1.0'?>
<sdf version='1.6'>
  <model name='obstacles'>
    <pose frame=''>0 0 0 0 0 0</pose>
    <link name='obstacle'>
      <collision name='obstacle_1'>
        <pose>-1.0 -1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <bounce/>
          <friction>
            <ode/>
          </friction>
          <contact>
            <ode/>
          </contact>
        </surface>
      </collision>

      <visual name='obstacle_1'>
        <pose>-1.0 -1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>

      <collision name='obstacle_2'>
        <pose>-1.0 1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <bounce/>
          <friction>
            <ode/>
          </friction>
          <contact>
            <ode/>
          </contact>
        </surface>
      </collision>

      <visual name='obstacle_2'>
        <pose>-1.0 1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>

      <collision name='obstacle_3'>
        <pose>1.0 -1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <bounce/>
          <friction>
            <ode/>
          </friction>
          <contact>
            <ode/>
          </contact>
        </surface>
      </collision>

      <visual name='obstacle_3'>
        <pose>1.0 -1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>

      <collision name='obstacle_4'>
        <pose>1.0 1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <bounce/>
          <friction>
            <ode/>
          </friction>
          <contact>
            <ode/>
          </contact>
        </surface>
      </collision>

      <visual name='obstacle_4'>
        <pose>1.0 1.0 0.25 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.15</radius>
            <length>0.5</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>
    </link>
    <static>1</static>

  </model>
</sdf>
