obstacles.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>
    <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='cardboard_box'>
      <pose>0.975561 1.35683 0.15 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.0416667</ixx>
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            <ixz>0</ixz>
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            <iyz>0</iyz>
            <izz>0.0683333</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>1e+07</kp>
                <kd>1</kd>
                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>0 0 -0.15 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
              <scale>1.25932 1.00745 0.755591</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='coke_can'>
      <link name='link'>
        <inertial>
          <pose>0 0 0.06 0 -0 0</pose>
          <mass>0.39</mass>
          <inertia>
            <ixx>0.00055575</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00055575</iyy>
            <iyz>0</iyz>
            <izz>0.0001755</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <pose>0.003937 0.004724 -0.18 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
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            </friction>
            <contact>
              <ode>
                <kp>1e+07</kp>
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                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
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          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>0.003937 0.004724 -0.18 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>1.42367 0.674235 0 0 -0 0</pose>
    </model>
    <model name='cinder_block'>
      <link name='link'>
        <inertial>
          <pose>0 0 0.1016 0 -0 0</pose>
          <mass>5</mass>
          <inertia>
            <ixx>0.028705</ixx>
            <ixy>0</ixy>
            <iyy>0.073708</iyy>
            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>0.06908</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://cinder_block/meshes/cinder_block.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='left'>
          <pose>0 -0.08465 0.1016 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.43495 0.0339 0.2032</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.1</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>
        <collision name='right'>
          <pose>0 0.08465 0.1016 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.43495 0.0339 0.2032</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.1</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>
        <collision name='front'>
          <pose>0.18625 0 0.1016 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.0339 0.1354 0.203</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.1</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>
        <collision name='middle'>
          <pose>0 0 0.1016 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.0339 0.1354 0.203</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.1</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>
        <collision name='back'>
          <pose>-0.18625 0 0.1016 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.0339 0.1354 0.203</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <max_vel>0.1</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>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose>1.33053 -0.358907 0 0 -0 0</pose>
    </model>
    <model name='cardboard_box_0'>
      <pose>0.085662 -1.24824 0.15 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.0416667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0566667</iyy>
            <iyz>0</iyz>
            <izz>0.0683333</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>1e+07</kp>
                <kd>1</kd>
                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>0 0 -0.15 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
              <scale>1.25932 1.00745 0.755591</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='cardboard_box_1'>
      <pose>-0.833853 1.39821 0.15 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.0416667</ixx>
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            <izz>0.0683333</izz>
          </inertia>
          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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              <torsional>
                <ode/>
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            <contact>
              <ode>
                <kp>1e+07</kp>
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                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>0 0 -0.15 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
              <scale>1.25932 1.00745 0.755591</scale>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='cardboard_box_2'>
      <pose>-2.92748 -1.55327 0.15 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>2</mass>
          <inertia>
            <ixx>0.0416667</ixx>
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          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
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              </ode>
              <torsional>
                <ode/>
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            <contact>
              <ode>
                <kp>1e+07</kp>
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                <max_vel>0.1</max_vel>
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            <bounce/>
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        <visual name='visual'>
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    </model>
    <model name='cardboard_box_3'>
      <pose>-2.10064 0.108655 0.15 0 -0 0</pose>
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        <inertial>
          <mass>2</mass>
          <inertia>
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          <pose>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
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          <surface>
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            <bounce/>
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        <visual name='visual'>
          <pose>0 0 -0.15 0 -0 0</pose>
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            <mesh>
              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
              <scale>1.25932 1.00745 0.755591</scale>
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        </visual>
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    </model>
    <model name='cardboard_box_4'>
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          <pose>0 0 0 0 -0 0</pose>
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        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.4 0.3</size>
            </box>
          </geometry>
          <surface>
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    <model name='cardboard_box_5'>
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    </model>
    <state world_name='default'>
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      <real_time>960 541509990</real_time>
      <wall_time>1706377278 443170116</wall_time>
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          <acceleration>0 0 0 0 -0 0</acceleration>
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      <model name='cardboard_box_0'>
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        <scale>1 1 1</scale>
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        <scale>1 1 1</scale>
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        <scale>1 1 1</scale>
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          <wrench>0 0 0 0 -0 0</wrench>
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      <model name='cardboard_box_3'>
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        <scale>1 1 1</scale>
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      <model name='cardboard_box_4'>
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        <scale>1 1 1</scale>
        <link name='link'>
          <pose>1.83993 -2.25837 0.15 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='cardboard_box_5'>
        <pose>-1.77394 -3.54796 0.15 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-1.77394 -3.54796 0.15 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='cinder_block'>
        <pose>1.33053 -0.358907 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>1.33053 -0.358907 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='coke_can'>
        <pose>1.42367 0.674235 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>1.42367 0.674235 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='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>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>5 -5 2 0 0.275643 2.3562</pose>
        <view_controller>ortho</view_controller>
        <projection_type>orthographic</projection_type>
      </camera>
    </gui>
  </world>
</sdf>