<sdf version='1.6'>
  <model name='turtlebot3_house'>
    <link name='Wall_101'>
      <pose frame=''>-0.05 3.1 0 0 0 -1.5708</pose>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <visual name='Wall_101_Visual'>
        <pose frame=''>0 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>4.5 0.15 2.5</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='Wall_101_Collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>4.5 0.15 2.5</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='Wall_104'>
      <pose frame=''>2.3 3.1 0 0 -0 1.5708</pose>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <visual name='Wall_104_Visual_1'>
        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.267504 0.15 2.5</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <visual name='Wall_104_Visual_2'>
        <pose frame=''>1.5325 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/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <visual name='Wall_104_Visual_0'>
        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>3.3325 0.15 2.5</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='Wall_104_Collision_1'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.267504 0.15 2.5</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
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              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
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              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='Wall_104_Collision_2'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.9 0.15 0.5</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <collision name='Wall_104_Collision_0'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>3.3325 0.15 2.5</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
    </link>
    <link name='Wall_106'>
      <pose frame=''>6.2 -0.175 0 0 -0 0</pose>
      <self_collide>0</self_collide>
      <kinematic>0</kinematic>
      <visual name='Wall_106_Visual_1'>
        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.905529 0.15 2.5</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <visual name='Wall_106_Visual_2'>
        <pose frame=''>0.019471 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/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <visual name='Wall_106_Visual_0'>
        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.944471 0.15 2.5</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Bricks</name>
          </script>
          <ambient>1 1 1 1</ambient>
          <diffuse>1 1 1 1</diffuse>
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          <emissive>0 0 0 1</emissive>
        </material>
        <cast_shadows>1</cast_shadows>
        <transparency>0</transparency>
      </visual>
      <collision name='Wall_106_Collision_1'>
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        <max_contacts>10</max_contacts>
        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.905529 0.15 2.5</size>
          </box>
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        <surface>
          <friction>
            <ode>
              <mu>1</mu>
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              <coefficient>1</coefficient>
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          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
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              <soft_cfm>0</soft_cfm>
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              <kp>1e+13</kp>
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            <bullet>
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              <kp>1e+13</kp>
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      <collision name='Wall_106_Collision_0'>
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          <box>
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              <kp>1e+13</kp>
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        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
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          <box>
            <size>0.9 0.15 0.5</size>
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              <kp>1e+13</kp>
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    <link name='Wall_108'>
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        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
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          <box>
            <size>5.78735 0.15 1</size>
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        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
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      <visual name='Wall_108_Visual_1'>
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          <box>
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        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
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          <emissive>0 0 0 1</emissive>
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          <box>
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              <kp>1e+13</kp>
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          <box>
            <size>5.78735 0.15 1</size>
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          </friction>
          <bounce>
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    <model name='Mailbox'>
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              <uri>model://mailbox/materials/scripts</uri>
              <uri>model://mailbox/materials/textures</uri>
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