obstacle_avoidance.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>0.2 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>
              <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>
      </link>
    </model>
    <model name='asphalt_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
    </model>
    <physics name='default_physics' default='0' type='ode'>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <max_step_size>0.002</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>500</real_time_update_rate>
    </physics>
    <gravity>0 0 -9.8066</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <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>
    <model name='asphalt_plane_clone'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>0.013817 -19.9057 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_0'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-0.044763 19.8547 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_1'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>19.9542 19.8571 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_2'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>19.8746 -0.016199 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_3'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>19.9582 -19.9369 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_4'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-19.9909 -19.9252 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_5'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-19.954 0.062585 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_6'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-19.9182 19.9182 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_7'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>40.0111 -19.9805 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_8'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>39.7739 -0.180821 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_9'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>39.7142 19.7483 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_10'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>59.7155 -19.9826 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_11'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>59.5056 -0.554758 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_12'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>59.7223 19.4825 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_13'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>59.6505 -39.9751 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_14'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>39.7473 -39.8277 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_clone_15'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</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>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
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