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scout_ros/scout_robot/worlds/clearpath_playpen.world
Ruixiang Du a0fae1b0f1 saved work, odom not right, to be fixed
2020-04-13 14:11:23 +08:00

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<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file clearpath_playpen.world
\authors Prasenjit Mukherjee <code@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<sdf version='1.4'>
<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>
</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>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</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>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics type='ode'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<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='jersey_barrier'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-8 -10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_0'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-3 -10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_1'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>2 -10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_2'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>7 -10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_3'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-7.50675 10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_4'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-2 10 0 0 -0 0</pose>
</model>
<model name='jersey_barrier_5'>
<static>1</static>
<link name='link'>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='upright'>
<pose>0 0 0.5715 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.3063 1.143</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base'>
<pose>0 0 0.032258 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.8107 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base2'>
<pose>0 0 0.1 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.65 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='base3'>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='left-angle'>
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
<geometry>
<box>
<size>4.06542 0.5 0.064516</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='right-angle'>
<pose>0 0.224 0.2401 -0.9 0 0</pose>
<geometry>
<box>
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<gravity>1</gravity>
</link>
<pose>-5 7 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Barrel_6'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-4 7 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Barrel_7'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-3 7 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Cone_1'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>8.42887 -5 0 0 -0 0</pose>
<static>0</static>
</model>
<state world_name='default'>
<sim_time>1298 470000000</sim_time>
<real_time>1304 307193893</real_time>
<wall_time>1412023784 735639465</wall_time>
<model name='Construction Barrel'>
<pose>7.00006 -2.54635 0.049999 4e-06 -0 0.000401</pose>
<link name='link'>
<pose>7.00006 -2.54635 0.049999 4e-06 -0 0.000401</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='Construction Barrel_0'>
<pose>1.45178 -6.51128 0.049999 -1e-06 -3e-06 3.8e-05</pose>
<link name='link'>
<pose>1.45178 -6.51128 0.049999 -1e-06 -3e-06 3.8e-05</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='Construction Barrel_1'>
<pose>-6.50482 3.9826 0.049999 4e-06 1e-06 -0.009616</pose>
<link name='link'>
<pose>-6.50482 3.9826 0.049999 4e-06 1e-06 -0.009616</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='Construction Barrel_2'>
<pose>-6.45065 4.99639 0.049999 -1e-06 -2e-06 0.064981</pose>
<link name='link'>
<pose>-6.45065 4.99639 0.049999 -1e-06 -2e-06 0.064981</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='Construction Barrel_3'>
<pose>-6.40174 6.01109 0.05 -1e-06 -1e-06 -0.120729</pose>
<link name='link'>
<pose>-6.40174 6.01109 0.05 -1e-06 -1e-06 -0.120729</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='Construction Barrel_4'>
<pose>-6.00634 7.00879 0.049999 3e-06 -0 -0.04957</pose>
<link name='link'>
<pose>-6.00634 7.00879 0.049999 3e-06 -0 -0.04957</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='Construction Barrel_5'>
<pose>-4.87565 7.00813 0.049999 -1e-06 -3e-06 0.146162</pose>
<link name='link'>
<pose>-4.87565 7.00813 0.049999 -1e-06 -3e-06 0.146162</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='Construction Barrel_6'>
<pose>-3.85615 7.02809 0.0897 -0.01028 -0.077931 0.017839</pose>
<link name='link'>
<pose>-3.85615 7.02809 0.0897 -0.01028 -0.077931 0.017839</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='Construction Barrel_7'>
<pose>-2.95979 6.99802 0.049998 -3e-06 -7e-06 -0.017994</pose>
<link name='link'>
<pose>-2.95979 6.99802 0.049998 -3e-06 -7e-06 -0.017994</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='Construction Cone'>
<pose>-5.59121 -8 0.05 0 -1e-06 0</pose>
<link name='link'>
<pose>-5.59121 -8 0.05 0 -1e-06 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='Construction Cone_0'>
<pose>6.99685 6.55732 0.05 -8.27181e-25 1e-06 -0.007012</pose>
<link name='link'>
<pose>6.99685 6.55732 0.05 -8.27181e-25 1e-06 -0.007012</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='Construction Cone_1'>
<pose>8.42887 -5 0.049999 0 3e-06 0</pose>
<link name='link'>
<pose>8.42887 -5 0.049999 0 3e-06 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='Dumpster'>
<pose>2.0181 8.87221 0.050916 -1.05879e-22 -3e-06 -0.188821</pose>
<link name='link'>
<pose>2.0181 8.87221 0.050916 -1.05879e-22 -3e-06 -0.188821</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='Dumpster_0'>
<pose>-2.35048 -4.41043 0.050918 0 -0 2.08003</pose>
<link name='link'>
<pose>-2.35048 -4.41043 0.050918 0 -0 2.08003</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='asphalt_plane'>
<pose>0.076733 -0.110379 0 0 -0 0</pose>
<link name='link'>
<pose>0.076733 -0.110379 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='fire_hydrant'>
<pose>3.18024 -6.51118 0 0 -0 0</pose>
<link name='link'>
<pose>3.18024 -6.51118 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='fire_hydrant_0'>
<pose>-3 4 0 0 -0 0</pose>
<link name='link'>
<pose>-3 4 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='fire_hydrant_1'>
<pose>-7.90686 -2.41363 0 0 -0 0</pose>
<link name='link'>
<pose>-7.90686 -2.41363 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='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<link name='link'>
<pose>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='jersey_barrier'>
<pose>-8 -10 0 0 -0 0</pose>
<link name='link'>
<pose>-8 -10 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='jersey_barrier_0'>
<pose>-3 -10 0 0 -0 0</pose>
<link name='link'>
<pose>-3 -10 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='jersey_barrier_1'>
<pose>2 -10 0 0 -0 0</pose>
<link name='link'>
<pose>2 -10 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='jersey_barrier_10'>
<pose>-10.0774 -2.27159 0 0 -0 1.56</pose>
<link name='link'>
<pose>-10.0774 -2.27159 0 0 -0 1.56</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='jersey_barrier_11'>
<pose>-9.77013 2.34791 0 0 -0 1.72</pose>
<link name='link'>
<pose>-9.77013 2.34791 0 0 -0 1.72</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='jersey_barrier_12'>
<pose>10.0879 -7.62159 0 0 -0 1.56</pose>
<link name='link'>
<pose>10.0879 -7.62159 0 0 -0 1.56</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='jersey_barrier_13'>
<pose>10 7 0 0 -0 1.48</pose>
<link name='link'>
<pose>10 7 0 0 -0 1.48</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='jersey_barrier_14'>
<pose>-9.64482 7.05946 0 0 -0 1.44</pose>
<link name='link'>
<pose>-9.64482 7.05946 0 0 -0 1.44</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='jersey_barrier_15'>
<pose>2.45495 0 0 0 -0 2.36</pose>
<link name='link'>
<pose>2.45495 0 0 0 -0 2.36</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='jersey_barrier_2'>
<pose>7 -10 0 0 -0 0</pose>
<link name='link'>
<pose>7 -10 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='jersey_barrier_3'>
<pose>-7.50675 10 0 0 -0 0</pose>
<link name='link'>
<pose>-7.50675 10 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='jersey_barrier_4'>
<pose>-2 10 0 0 -0 0</pose>
<link name='link'>
<pose>-2 10 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='jersey_barrier_5'>
<pose>3 10 0 0 -0 0</pose>
<link name='link'>
<pose>3 10 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='jersey_barrier_6'>
<pose>8 10 0 0 -0 0</pose>
<link name='link'>
<pose>8 10 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='jersey_barrier_7'>
<pose>9.74902 -2.57759 0 0 -0 1.64</pose>
<link name='link'>
<pose>9.74902 -2.57759 0 0 -0 1.64</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='jersey_barrier_8'>
<pose>9.70141 2.24369 0 0 -0 1.6</pose>
<link name='link'>
<pose>9.70141 2.24369 0 0 -0 1.6</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='jersey_barrier_9'>
<pose>-10.0607 -6.69856 0 0 0 -1.4</pose>
<link name='link'>
<pose>-10.0607 -6.69856 0 0 0 -1.4</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>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>16.2337 1.23674 17.6497 0 0.923643 -3.08299</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>
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