<?xml version="1.0"?>
<sdf version='1.6'>
  <world name='default'>
    <scene>
      <ambient>0.8 0.8 0.8 1</ambient>
      <shadows>0</shadows>
      <grid>0</grid>
      <background>0.7 0.7 0.7 1</background>
    </scene>

    <include>
      <uri>model://turtlebot3_autorace_2020/course</uri>
      <pose> 0 0 0 0 0 -3.14</pose>
    </include>
    
    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_bar</uri>
      <pose> -0.8  1.26 0.125 0 0 -1.57</pose>
    </include>
    
    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_light</uri>
      <pose> 1.3 -1.95 0.13 0 0 -1.57</pose>
    </include>

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_parking</uri>
      <pose> 0.74 1.95 0.13 0 0 -1.57</pose>
    </include>
    
    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_tunnel</uri>
      <pose> -1.544 0.00 0.125 0 0 0</pose>
    </include>
   
    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_stop</uri>
      <pose> -1.35 1.04 0.125 0 -0 -1.57</pose>
    </include>    

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_pl_left</uri>
      <pose>0.50 1.90 0.13 0 0 0</pose>
    </include>

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_construction</uri>
      <pose> 1.0 0.04 0.125 0 -0 -1.57</pose>
    </include>   

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_intersection</uri>
      <pose> 1.95 -1.0 0.125 0 -0 0.0</pose>
    </include>   

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_noentry</uri>
      <pose> 0.95 -0.758 0.125 0 -0 0.0</pose>
    </include>

    <include>
      <uri>model://turtlebot3_autorace_2020/traffic_right</uri>
      <pose>1.08 -0.728 0.125 0 -0 -1.57</pose>
    </include>
<!--
    <include>
      <uri>model://turtlebot3_autorace_2020/checker</uri>
      <pose> 5.50 -1.750 0.000 0 -0 0.0</pose>
    </include> -->

    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </light>

    <model name='ground2'>
      <pose frame=''>0 0 -0.1 0 -0 0</pose>
      <static>1</static>
      <link name='ground'>
        <collision name='ground_coll'>
          <geometry>
            <box>
              <size>8 8 0.01</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='ground_vis'>
          <geometry>
            <box>
              <size>10 10 0.01</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/FlatBlack</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </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='default_physics' default='0' 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>
    <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> 
 
    <light name='user_point_light_1' type='point'>
      <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.5</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>    
    <light name='user_point_light_2' type='point'>
      <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.5</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='user_point_light_3' type='point'>
      <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.5</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>

    <state world_name='default'>
      <sim_time>116 345000000</sim_time>
      <real_time>32 693566475</real_time>
      <wall_time>1525097329 747995208</wall_time>
      <iterations>32558</iterations>
      <model name='ground'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='ground'>
          <pose frame=''>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='tunnel_obstacle'>
        <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='obstacle_1'>
          <pose frame=''>-0.61823 -1.33874 0.125 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='obstacle_2'>
          <pose frame=''>-1.36518 -1.41427 0.125 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='obstacle_3'>
          <pose frame=''>-1.14094 -0.627116 0.125 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='tunnel_wall'>
        <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='Wall_1'>
          <pose frame=''>-1.91548 -1.005857 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 frame=''>-0.994699 -1.92118 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_3'>
          <pose frame=''>-0.021303 -0.832071 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_4'>
          <pose frame=''>-0.814699 -0.03074 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>
      </model>

      <model name='unit_box'>
        <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
        <scale>1 1 1</scale>
        <link name='traffic_bar'>
          <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>1.06648 0.03546 4.20605 2.1745 -1.41657 3.10996</acceleration>
          <wrench>1.06648 0.03546 4.20605 0 -0 0</wrench>
        </link>
	      <static>1</static>
      </model>

      <model name='barrier_1'>
        <pose frame=''>1.49 0.54 0.15 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.49 0.54 0.15 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='barrier_2'>
        <pose frame=''>1.74 1 0.15 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.74 1 0.15 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='barrier_3'>
        <pose frame=''>1.49 1.464 0.15 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.49 1.464 0.15 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>


      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>      
      <light name='user_point_light_1'>
        <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
      </light>
      <light name='user_point_light_2'>
        <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
      </light>
      <light name='user_point_light_3'>
        <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
      </light>
    </state>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>2.7696 -1.93094 6.71513 0 1.1618 2.27182</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>

    <model name='tunnel_wall'>
      <link name='Wall_1'>
        <pose frame=''>-0.980783 0.049883 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='Wall_1_Visual'>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.8 0.05 0.25</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <diffuse>0.7 0.7 0.7 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='Wall_1_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.8 0.05 0.25</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>
        <gravity>1</gravity>
      </link>
      <link name='Wall_2'>
        <pose frame=''>0 -0.935438 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='Wall_2_Visual'>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.8 0.05 0.25</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <diffuse>0.7 0.7 0.7 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='Wall_2_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.8 0.05 0.25</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>
        <gravity>1</gravity>
      </link>
      <link name='Wall_3'>
        <pose frame=''>0.943396 0.183669 0 0 -0 1.5708</pose>
        <inertial>
          <inertia>
            <ixx>nan</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>nan</iyy>
            <iyz>0</iyz>
            <izz>nan</izz>
          </inertia>
          <mass>0</mass>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='Wall_3_Visual'>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.53699 0.05 0.25</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <diffuse>0.7 0.7 0.7 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='Wall_3_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.53699 0.05 0.25</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>
        <gravity>1</gravity>
      </link>
      <link name='Wall_4'>
        <pose frame=''>0.15 0.915 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <visual name='Wall_4_Visual'>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.58 0.05 0.25</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
            <diffuse>0.7 0.7 0.7 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='Wall_4_Collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0.125 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.58 0.05 0.25</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>
        <gravity>1</gravity>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
    </model>

    <model name='tunnel_obstacle'>
      <link name='obstacle_1'>
        <pose frame=''>0.42322 -0.212034 0.0 0 -0 0</pose>
        <inertial>
          <mass>0.0416663</mass>
          <inertia>
            <ixx>0.00098188</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00098188</iyy>
            <iyz>0</iyz>
            <izz>0.00046751</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.25</length>
            </cylinder>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
            <shader type='pixel'>
              <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 frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.46418</length>
            </cylinder>
          </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='obstacle_2'>
        <pose frame=''>-0.323729 -0.287563 0.0 0 -0 0</pose>
        <inertial>
          <mass>0.0416663</mass>
          <inertia>
            <ixx>0.00098188</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00098188</iyy>
            <iyz>0</iyz>
            <izz>0.00046751</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.25</length>
            </cylinder>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
            <shader type='pixel'>
              <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 frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.46418</length>
            </cylinder>
          </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='obstacle_3'>
        <pose frame=''>-0.099492 0.499594 0.0 0 -0 0</pose>
        <inertial>
          <mass>0.0416663</mass>
          <inertia>
            <ixx>0.00098188</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00098188</iyy>
            <iyz>0</iyz>
            <izz>0.00046751</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.25</length>
            </cylinder>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
            <shader type='pixel'>
              <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 frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>0.46418</length>
            </cylinder>
          </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>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
    </model>

    <model name='barrier_1'>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</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>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.61222 1.02778 0.5 0 -0 0</pose>
    </model>

    <model name='barrier_2'>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</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>
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              <bullet>
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                <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>
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      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.74483 0.998451 0.15 0 -0 0</pose>
    </model>

    <model name='barrier_3'>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.7 0.7 0.7 1</diffuse>
            <specular>0.01 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.1 0.3</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>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.49021 1.46167 0.15 0 -0 0</pose>
    </model>
  </world>
</sdf>
