turtlebot_enclosed_world.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>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <physics name='default_physics' default='0' 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>
    </physics>
    <model name='bookshelf'>
      <static>1</static>
      <link name='link'>
        <inertial>
          <mass>1</mass>
        </inertial>
        <collision name='back'>
          <pose frame=''>0 0.005 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.9 0.01 1.2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual1'>
          <pose frame=''>0 0.005 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.9 0.01 1.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='left_side'>
          <pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 1.2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual2'>
          <pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 1.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='right_side'>
          <pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 1.2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual3'>
          <pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 1.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='bottom'>
          <pose frame=''>0 -0.195 0.03 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.06</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual4'>
          <pose frame=''>0 -0.195 0.03 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.06</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='top'>
          <pose frame=''>0 -0.195 1.19 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual5'>
          <pose frame=''>0 -0.195 1.19 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='low_shelf'>
          <pose frame=''>0 -0.195 0.43 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual6'>
          <pose frame=''>0 -0.195 0.43 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='high_shelf'>
          <pose frame=''>0 -0.195 0.8 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual7'>
          <pose frame=''>0 -0.195 0.8 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.88 0.4 0.02</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</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>
      <pose frame=''>0 1.53026 0 0 -0 0</pose>
    </model>
    <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 frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base'>
          <pose frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base2'>
          <pose frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='base3'>
          <pose frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose frame=''>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/>
              <torsional>
                <ode/>
              </torsional>
            </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 frame=''>-4 -1 0 0 -0 -0.7</pose>
    </model>
    <model name='ground_plane_0'>
      <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>
            <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>
      <pose frame=''>0.497681 0 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>2648 810000000</sim_time>
      <real_time>2651 271747719</real_time>
      <wall_time>1574093095 961695765</wall_time>
      <iterations>264881</iterations>
      <model name='Dumpster'>
        <pose frame=''>0.51051 -3.28647 0.000784 3e-06 -0.000204 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0.51051 -3.28647 0.000784 3e-06 -0.000204 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.006895 0 0 1e-06 -0.246922 -5.8e-05</acceleration>
          <wrench>-0.006895 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='bookshelf'>
        <pose frame=''>0.243967 1.4999 0 0 0 -0.313929</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0.243967 1.4999 0 0 0 -0.313929</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='cube_20k'>
        <pose frame=''>1.36072 -0.99639 4.4e-05 -0.000783 -0.000695 0.685218</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.3602 -0.996307 0.500044 -0.000783 -0.000695 0.685218</pose>
          <velocity>-0.024993 -0.001228 0.004723 0.002459 -0.049986 2.7e-05</velocity>
          <acceleration>-0.294239 -2.68098 2.82633 -0.971091 -0.560678 0.056045</acceleration>
          <wrench>-0.294239 -2.68098 2.82633 0 -0 0</wrench>
        </link>
      </model>
      <model name='grey_wall'>
        <pose frame=''>-4.67266 2.01884 0 0 -0 0.195868</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-4.67266 2.01884 1.4 0 -0 0.195868</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_0'>
        <pose frame=''>0.497681 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0.497681 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 frame=''>-5.00761 -1.3817 0 0 0 -0.7</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.00761 -1.3817 0 0 0 -0.7</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='mobile_base'>
        <pose frame=''>0.195541 0.29695 -0.001131 6e-05 -0.007995 -0.973856</pose>
        <scale>1 1 1</scale>
        <link name='base_footprint'>
          <pose frame=''>0.195541 0.29695 -0.001131 6e-05 -0.007995 -0.973856</pose>
          <velocity>2.8e-05 3.3e-05 -1.4e-05 -0.000308 0.00077 -0.000278</velocity>
          <acceleration>-9.9e-05 -4.6e-05 -0.002513 -0.04738 0.104093 0.027379</acceleration>
          <wrench>-0.000463 -0.000214 -0.011802 0 -0 0</wrench>
        </link>
        <link name='wheel_left_link'>
          <pose frame=''>0.290473 0.36182 0.035019 -1.57084 -0.02402 -0.973855</pose>
          <velocity>7.3e-05 1.7e-05 -0.000107 -0.000308 0.00077 -0.000278</velocity>
          <acceleration>0.038672 0.009168 -2.37668 0.080951 -0.119103 0.018942</acceleration>
          <wrench>0.000387 9.2e-05 -0.023767 0 -0 0</wrench>
        </link>
        <link name='wheel_right_link'>
          <pose frame=''>0.100263 0.232531 0.034853 -1.57083 -0.030552 -0.973852</pose>
          <velocity>3.7e-05 7e-05 8e-05 -0.000308 0.00077 -0.000278</velocity>
          <acceleration>0.007628 0.012269 -1.96845 0.068068 -0.100148 0.012996</acceleration>
          <wrench>7.6e-05 0.000123 -0.019684 0 -0 0</wrench>
        </link>
      </model>
      <model name='person_standing'>
        <pose frame=''>1.93544 0.804544 -5.5e-05 -0.000107 0.0001 -1.19688</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.93544 0.804544 -5.5e-05 -0.000107 0.0001 -1.19688</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>1.64845 -1.08891 -1.48001 -2.06054 1.36013 3.09781</acceleration>
          <wrench>131.876 -87.1126 -118.4 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder_1'>
        <pose frame=''>-2 -3.4888 0.49912 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-2 -3.4888 0.49912 0 -0 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>
        </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=''>5.7858 -0.87771 21.2713 0 1.2458 2.82415</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='unit_cylinder_1'>
      <pose frame=''>-2 -3.4888 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </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>
      <static>0</static>
    </model>
    <model name='Dumpster'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </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 frame=''>1 -3.44458 0 0 -0 -0.3</pose>
      <static>0</static>
    </model>
    <model name='cube_20k'>
      <link name='link'>
        <pose frame=''>0 0 0.5 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
              <scale>0.5 0.5 0.5</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
              <scale>0.5 0.5 0.5</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
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              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_middle_3_link_visual_17'>
          <pose frame=''>-0.0381 -0.1505 0.1742 3.14159 -0 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_0_link_visual_18'>
          <pose frame=''>0.0381 0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_1_link_visual_19'>
          <pose frame=''>0.0381 -0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_2_link_visual_20'>
          <pose frame=''>-0.0381 0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_3_link_visual_21'>
          <pose frame=''>-0.0381 -0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay/>
        <sensor name='bumpers' type='contact'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <contact>
            <collision>base_footprint_fixed_joint_lump__base_collision</collision>
            <topic>__default_topic__</topic>
          </contact>
          <pose frame=''>0 0 0.0102 0 -0 0</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='camera' type='depth'>
          <always_on>1</always_on>
          <update_rate>20</update_rate>
          <camera name='__default__'>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <format>B8G8R8</format>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.05</near>
              <far>8</far>
            </clip>
          </camera>
          <plugin name='kinect_camera_controller' filename='libgazebo_ros_openni_kinect.so'>
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>10</updateRate>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <frameName>camera_depth_optical_frame</frameName>
            <baseline>0.1</baseline>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
            <pointCloudCutoff>0.4</pointCloudCutoff>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-0.087 -0.0015 0.2972 0 -0 0</pose>
        </sensor>
        <velocity_decay/>
        <velocity_decay/>
        <velocity_decay/>
        <sensor name='cliff_sensor_front' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.156 0 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_left' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.08734 0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_right' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.085 -0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <gravity>1</gravity>
        <velocity_decay/>
        <sensor name='imu' type='imu'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>0</visualize>
          <imu>
            <angular_velocity>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </z>
            </angular_velocity>
            <linear_acceleration>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </z>
            </linear_acceleration>
          </imu>
          <pose frame=''>0.056 0.062 0.0304 0 -0 0</pose>
        </sensor>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_left_link'>
        <pose frame=''>0 0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_left_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.0352</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_left_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_left_joint' type='revolute'>
        <child>wheel_left_link</child>
        <parent>base_footprint</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wheel_right_link'>
        <pose frame=''>0 -0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_right_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.035</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_right_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_right_joint' type='revolute'>
        <child>wheel_right_link</child>
        <parent>base_footprint</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name='kobuki_controller' filename='libgazebo_ros_kobuki.so'>
        <publish_tf>1</publish_tf>
        <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
        <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
        <wheel_separation>.230</wheel_separation>
        <wheel_diameter>0.070</wheel_diameter>
        <torque>1.0</torque>
        <velocity_command_timeout>0.6</velocity_command_timeout>
        <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
        <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>
        <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
        <cliff_detection_threshold>0.04</cliff_detection_threshold>
        <bumper_name>bumpers</bumper_name>
        <imu_name>imu</imu_name>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>0 0 0 0 -0 0</pose>
    </model>
    <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>7.5 0.2 2.8</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>7.5 0.2 2.8</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>
      </link>
      <pose frame=''>-2.97227 2.08856 0 0 -0 0</pose>
    </model>
    <model name='person_standing'>
      <link name='link'>
        <inertial>
          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
          <mass>80</mass>
          <inertia>
            <ixx>24.88</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>25.73</iyy>
            <iyz>0</iyz>
            <izz>2.48</izz>
          </inertia>
        </inertial>
        <collision name='bottom'>
          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.35 0.02</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='person'>
          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://person_standing/meshes/standing.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://person_standing/meshes/standing.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>1.9355 0.804594 0 0 -0 0</pose>
    </model>
  </world>
</sdf>