testing_lvl_1.world

<sdf version='1.7'>
  <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>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </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>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </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>
    <wind/>
    <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>9175 822000000</sim_time>
      <real_time>6823 781188020</real_time>
      <wall_time>1631481639 52068027</wall_time>
      <iterations>3749288</iterations>
      <model name='brick_box_3x1x3'>
        <pose>1.37259 -2.48803 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>1.37259 -2.48803 1.5 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='brick_box_3x1x3_0'>
        <pose>-1.61597 -2.48565 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-1.61597 -2.48565 1.5 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='brick_box_3x1x3_1'>
        <pose>1.41888 4.45857 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>1.41888 4.45857 1.5 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='brick_box_3x1x3_2'>
        <pose>-1.52203 4.45965 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-1.52203 4.45965 1.5 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='brick_box_3x1x3_3'>
        <pose>-5.54163 2.46869 0 0 -0 1.57257</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-5.54163 2.46869 1.5 0 -0 1.57257</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='brick_box_3x1x3_3_clone'>
        <pose>-5.55408 -0.484657 3e-06 -0.001926 1e-05 1.56943</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-5.55697 -0.484638 1.5 -0.001926 1e-05 1.56943</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='brick_box_3x1x3_3_clone_clone_clone_2'>
        <pose>5.37243 -0.502276 3e-06 -0.001926 1e-05 1.56943</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>5.36954 -0.502257 1.5 -0.001926 1e-05 1.56943</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='brick_box_3x1x3_3_clone_clone_clone_3'>
        <pose>5.3756 2.47555 3e-06 -0.001926 1e-05 1.56943</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>5.37271 2.47557 1.5 -0.001926 1e-05 1.56943</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='brick_box_3x1x3_4'>
        <pose>-4.4903 4.46316 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-4.4903 4.46316 1.5 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='brick_box_3x1x3_5'>
        <pose>4.37771 4.46534 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>4.37771 4.46534 1.5 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='brick_box_3x1x3_6'>
        <pose>-4.56204 -2.48343 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>-4.56204 -2.48343 1.5 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='brick_box_3x1x3_7'>
        <pose>4.35348 -2.48742 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose>4.35348 -2.48742 1.5 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='drc_practice_blue_cylinder'>
        <pose>-2.03345 0.011019 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-2.03345 0.011019 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='drc_practice_blue_cylinder_0'>
        <pose>0.341215 2.31635 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0.341215 2.31635 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='drc_practice_blue_cylinder_1'>
        <pose>2.18635 -0.187841 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>2.18635 -0.187841 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>
        <scale>1 1 1</scale>
        <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>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>0.225129 1.26686 12.407 2e-06 1.5618 1.55557</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='brick_box_3x1x3'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>1.48041 -4.48026 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_0'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-1.52827 -4.47108 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_1'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>1.50422 4.50334 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_2'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-1.49672 4.50704 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_3'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-3.00511 -0.267402 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_4'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-4.50856 5.49143 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_5'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>4.5061 5.49704 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_6'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>-4.53468 -4.47016 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_7'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>4.47356 -4.47858 0 0 -0 0</pose>
    </model>
    <model name='brick_box_3x1x3_3_clone'>
      <static>1</static>
      <link name='chassis'>
        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>3 1 3</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
              <scale>3 1 3</scale>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
              <name>BrickBox/Diffuse</name>
            </script>
          </material>
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        <kinematic>0</kinematic>
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        <pose>0 0 1.5 0 -0 0</pose>
        <collision name='collision'>
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              <size>3 1 3</size>
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              <uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
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              <uri>model://brick_box_3x1x3/materials/scripts</uri>
              <uri>model://brick_box_3x1x3/materials/textures</uri>
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        <kinematic>0</kinematic>
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      <pose>6.50304 1.51015 0 -0.001926 1e-05 1.56943</pose>
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        <pose>0 0 1.5 0 -0 0</pose>
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              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
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    <model name='drc_practice_blue_cylinder_0'>
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      <pose>0.341215 2.31635 0 0 -0 0</pose>
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    <model name='drc_practice_blue_cylinder_1'>
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              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
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      <pose>2.18635 -0.187841 0 0 -0 0</pose>
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</sdf>