save.world

<sdf version='1.6'>
  <world name='default'>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <laser_retro>255</laser_retro>
          <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>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <audio>
      <device>default</device>
    </audio>
    <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='unit_cylinder'>
      <pose frame=''>0.527582 -1.48855 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </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>
    <model name='unit_box'>
      <pose frame=''>-0.572619 -5.34459 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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>
    <state world_name='default'>
      <sim_time>1003 229000000</sim_time>
      <real_time>1933 750101180</real_time>
      <wall_time>1612450704 812737698</wall_time>
      <iterations>1003229</iterations>

      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>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 frame=''>-0.500001 -5.5 0.5 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-0.500001 -5.5 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
        <pose frame=''>2.5 -6.5 0.5 -0 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>2.5 -6.5 0.5 -0 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0_clone'>
        <pose frame=''>3.5 -1.5 0.5 -0 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>3.5 -1.5 0.5 -0 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0_clone_0'>
        <pose frame=''>-2.48759 1.51489 0.5 -0 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-2.48759 1.51489 0.5 -0 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0_clone_1'>
        <pose frame=''>2.5 -4.5 0.5 -0 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>2.5 -4.5 0.5 -0 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1'>
        <pose frame=''>-3.5 -2.5 0.5 -0 -0 -2e-06</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-3.5 -2.5 0.5 -0 -0 -2e-06</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_clone'>
        <pose frame=''>-1.5 -5.5 0.5 0 -0 1e-06</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-1.5 -5.5 0.5 0 -0 1e-06</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_clone_0'>
        <pose frame=''>-3.5 -1.49999 0.5 -0 -0 -4e-06</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-3.5 -1.49999 0.5 -0 -0 -4e-06</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -1e-06 -1e-06 0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder'>
        <pose frame=''>0.499996 -1.5 0.499993 -4e-06 -3e-06 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0.499996 -1.5 0.499993 -4e-06 -3e-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>
        </link>
      </model>
      <model name='wooden_floor'>
        <pose frame=''>0 -2 -0.001007 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='base'>
          <pose frame=''>0 -2 0.004223 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0 0 -0 -0 -0 -0</acceleration>
          <wrench>-0 0 -0 0 -0 0</wrench>
        </link>
      </model>
      <light name='user_directional_light_0'>
        <pose frame=''>-0.505351 -5.5014 0.5 0 -0 0</pose>
      </light>
    </state>
    <model name='unit_box_clone'>
      <pose frame=''>-1.77894 -5.441 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_0'>
      <pose frame=''>2.49688 -6.48691 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_1'>
      <pose frame=''>-3.47135 -2.43794 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_clone_0'>
      <pose frame=''>-3.47751 -1.40828 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_0_clone'>
      <pose frame=''>3.48257 -1.53642 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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_0_clone_0'>
      <pose frame=''>-2.48759 1.51489 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
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            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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_box_0_clone_1'>
      <pose frame=''>2.49939 -4.50361 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>
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          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 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'>
          <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='wooden_floor'>
      <link name='base'>
        <pose frame=''>0 0 0.00523 0 -0 0</pose>
        <inertial>
          <mass>0.2765</mass>
          <inertia>
            <ixx>0.0025148</ixx>
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            <ixz>0</ixz>
            <iyy>0.00024037</iyy>
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            <izz>0.00275013</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>15 15 0.02046</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
            <shader type='vertex'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.2 0.2 0.2 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.1016 0.3302 0.01046</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0.01</surface_radius>
                <use_patch_radius>0</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>100000</kp>
                <kd>100</kd>
                <max_vel>100</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>100000</kp>
                <kd>100</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0 -2 -0.001007 0 -0 0</pose>
    </model>
    <light name='user_directional_light_0' type='directional'>
      <pose frame=''>-0.505351 -5.5014 1 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <direction>0.1 0.1 -0.9</direction>
      <attenuation>
        <range>20</range>
        <constant>0.5</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
    </light>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-0.449397 -5.25944 18.212 -3.3e-05 1.5698 1.5567</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>