map.world

<sdf version='1.6'>
  <world name='default'>
    <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='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>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </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>
        <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>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <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>
    <state world_name='default'>
      <sim_time>6764 655000000</sim_time>
      <real_time>166 186112891</real_time>
      <wall_time>1586275936 644116752</wall_time>
      <iterations>165841</iterations>
      <model name='grey_wall'>
        <pose frame=''>0 -5.1 -1.1 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 -5.1 0.3 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='grey_wall_0'>
        <pose frame=''>5.1 0 -1.1 0 -0 1.57</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>5.1 0 0.3 0 -0 1.57</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='grey_wall_0_clone'>
        <pose frame=''>-5.1 0 -1.1 0 -0 1.57</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.1 0 0.3 0 -0 1.57</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='grey_wall_clone'>
        <pose frame=''>0 5.1 -1.1 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 5.1 0.3 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 frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <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>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-0.164147 -12.8298 17.4452 0 1.07419 1.44431</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='grey_wall'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>0 0 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_0'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-1.4614 -3.54181 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_0_clone'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>2.96641 -2.79568 -0.382939 0 0 -1.61424</pose>
    </model>
    <model name='grey_wall_clone'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>10.2 0.1 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>4.49318 -1.84259 -0.393069 0 -0 0</pose>
    </model>
    <model name='wooden_peg'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 -1.13 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.00974923</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>9.74923e-06</iyy>
            <iyz>0</iyz>
            <izz>8.31797e-07</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>0.001934 -0.007073 0 0 -0 0</pose>
    </model>
    
    <model name='wooden_peg_clone_0'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 -1.1 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.00974923</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>9.74923e-06</iyy>
            <iyz>0</iyz>
            <izz>8.31797e-07</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-2.88264 -2.90154 1.1 0 -0 0</pose>
    </model>
    <model name='wood_cube_10cm'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.05 0 -0 0</pose>
        <inertial>
          <mass>0.5167</mass>
          <inertia>
            <ixx>0.000861167</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000861167</iyy>
            <iyz>0</iyz>
            <izz>0.000861167</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1.5 1.5 0.8</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>	
          <geometry>
            <box>
              <size>1.5 1.5 0.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-3.97015 0.024578 0 0 -0 0</pose>
    </model>
    <model name='wood_cube_10cm_clone_0'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.05 0 -0 0</pose>
        <inertial>
          <mass>0.5167</mass>
          <inertia>
            <ixx>0.000861167</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000861167</iyy>
            <iyz>0</iyz>
            <izz>0.000861167</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>2.5 1.5 0.8</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>2.5 1.5 0.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>0 0 -0.001013 0 -0 0</pose>
    </model>
    <model name='wood_cube_10cm_clone_1'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0.05 0 -0 0</pose>
        <inertial>
          <mass>0.5167</mass>
          <inertia>
            <ixx>0.000861167</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000861167</iyy>
            <iyz>0</iyz>
            <izz>0.000861167</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1.5 2.0 0.8</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1.5 2.0 0.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>3.02586 -1.95 -0.001013 0 -0 0</pose>
    </model>
    <model name='wooden_peg_clone_0_clone'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 -1.1 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.00974923</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>9.74923e-06</iyy>
            <iyz>0</iyz>
            <izz>8.31797e-07</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <poissons_ratio>0.347</poissons_ratio>
              <elastic_modulus>8.8e+09</elastic_modulus>
              <ode>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <torsional>
                <coefficient>1</coefficient>
                <use_patch_radius>0</use_patch_radius>
                <surface_radius>0.01</surface_radius>
                <ode/>
              </torsional>
              <ode/>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>1</radius>
              <length>0.8</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>-3.08983 3.04961 1.3 0 -0 0</pose>
    </model>
  </world>
</sdf>