box_house.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>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <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 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>
    <model name='box_house'>
      <pose>-1.97643 0.059964 0 0 -0 0</pose>
      <link name='Wall_1'>
        <collision name='Wall_1_Collision'>
          <geometry>
            <box>
              <size>13 0.15 2.5</size>
            </box>
          </geometry>
          <pose>0 0 1.25 0 -0 0</pose>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='Wall_1_Visual'>
          <pose>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>13 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
        </visual>
        <pose>0 3.925 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_2'>
        <collision name='Wall_2_Collision'>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <pose>0 0 1.25 0 -0 0</pose>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='Wall_2_Visual'>
          <pose>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Bricks</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
        </visual>
        <pose>6.425 -0 0 0 -0 -1.5708</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_3'>
        <collision name='Wall_3_Collision'>
          <geometry>
            <box>
              <size>13 0.15 2.5</size>
            </box>
          </geometry>
          <pose>0 0 1.25 0 -0 0</pose>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='Wall_3_Visual'>
          <pose>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>13 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
        </visual>
        <pose>0 -3.925 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_4'>
        <collision name='Wall_4_Collision'>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <pose>0 0 1.25 0 -0 0</pose>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='Wall_4_Visual'>
          <pose>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
          <meta>
            <layer>0</layer>
          </meta>
        </visual>
        <pose>-6.425 -0 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
    </model>
    <model name='unit_box'>
      <pose>-7.27143 3.09748 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_cylinder'>
      <pose>-4.57746 0.509886 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <state world_name='default'>
      <sim_time>257 459000000</sim_time>
      <real_time>196 129745222</real_time>
      <wall_time>1593764309 76438721</wall_time>
      <iterations>194518</iterations>
      <model name='box_house'>
        <pose>-1.97643 0.05996 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='Wall_1'>
          <pose>-1.97643 3.98496 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_2'>
          <pose>4.44857 0.059964 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_3'>
          <pose>-1.97643 -3.86504 0 0 -0 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_4'>
          <pose>-8.40143 0.059964 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </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>
      <model name='unit_box'>
        <pose>-7.27142 3.09748 0.499995 0 1e-05 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-7.27142 3.09748 0.499995 0 1e-05 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05</acceleration>
          <wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
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        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-4.96407 -2.00353 0.499995 -1e-05 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
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      </model>
      <model name='unit_box_1'>
        <pose>3.83312 3.3034 0.499995 0 1e-05 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
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          <velocity>0 0 0 0 -0 0</velocity>
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          <wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench>
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      </model>
      <model name='unit_cylinder'>
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        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-4.57746 0.509884 0.499998 3e-06 4e-06 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
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      </model>
      <model name='unit_cylinder_0'>
        <pose>-0.988146 2.12658 0.499993 -3e-06 -4e-06 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
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      </model>
      <model name='unit_cylinder_1'>
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        <scale>1 1 1</scale>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 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>-2.68744 -4.4037 20.9537 -0 1.31164 1.40819</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='unit_box_0'>
      <pose>-4.96407 -2.00354 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
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        <collision name='collision'>
          <geometry>
            <box>
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            </box>
          </geometry>
          <surface>
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            <bounce/>
            <friction>
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              <ode/>
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          <max_contacts>10</max_contacts>
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        <visual name='visual'>
          <geometry>
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          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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        <self_collide>0</self_collide>
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    </model>
    <model name='unit_box_1'>
      <pose>3.83312 3.3034 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
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          <pose>0 0 0 0 -0 0</pose>
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        <collision name='collision'>
          <geometry>
            <box>
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            </box>
          </geometry>
          <surface>
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            <bounce/>
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              <ode/>
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          </surface>
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        <visual name='visual'>
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        <inertial>
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          <pose>0 0 0 0 -0 0</pose>
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        <collision name='collision'>
          <geometry>
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          </surface>
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    <model name='unit_cylinder_1'>
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    </model>
  </world>
</sdf>