maze.world

<sdf version="1.4">
  <world name="maze_world">
    <model name="ground">
      <static>true</static>
      <link name="ground_link">
        <collision name="collision1">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
            </plane>
          </geometry>
        </collision>
        <visual name="visual1">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </visual>
      </link>
    </model>
		<model name='Untitled'>
	  <pose>0 0 0 0 -0 0</pose>
        		  <link name='Wall_0_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>0.5 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_0_0_v'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>0 -0.5 0 0 -0 1.5708</pose>
		  </link>
        	    <link name='Joint_0_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>0 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_1_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>1.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_1_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>1 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_2_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>2.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_2_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>2 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_3_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>3.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_3_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>3 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_4_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>4.5 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_4_0_v'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>4 -0.5 0 0 -0 1.5708</pose>
		  </link>
        	    <link name='Joint_4_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>4 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_5_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>5.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_5_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>5 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_6_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>6.5 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_6_0_v'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>6 -0.5 0 0 -0 1.5708</pose>
		  </link>
        	    <link name='Joint_6_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>6 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_7_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>7.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_7_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>7 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_8_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>8.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_8_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>8 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_9_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.921569 0.807843 0.615686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>9.5 0 0 0 -0 0</pose>
		  </link>
        	    <link name='Joint_9_0'>
		    <collision name='Wall_2_Collision'>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_2_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
		          <size>0.1 0.1 1.5</size>
		        </box>
		      </geometry>
		      <material>
		        <script>
		          <uri>file://media/materials/scripts/gazebo.material</uri>
		          <name>Gazebo/Grey</name>
		        </script>
		        <ambient>0.721569 0.907843 0.215686 1</ambient>
		      </material>
		      <meta>
		        <layer>0</layer>
		      </meta>
		    </visual>
		    <pose>9 0 0 0 -0 0</pose>
		  </link>
        		  <link name='Wall_10_0_h'>
		    <collision name='Wall_0_Collision'>
		      <geometry>
		        <box>
		          <size>0.9 0.1 1.5</size>
		        </box>
		      </geometry>
		      <pose>0 0 0.75 0 -0 0</pose>
		    </collision>
		    <visual name='Wall_0_Visual'>
		      <pose>0 0 0.75 0 -0 0</pose>
		      <geometry>
		        <box>
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