shifty.world

<sdf version='1.4'>
  <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>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </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>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </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>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <physics name='default_physics' default='0' type='ode'>
      <!--<max_step_size>0.001</max_step_size>-->
      <real_time_factor>0</real_time_factor>
      <!--<real_time_update_rate>1000</real_time_update_rate>-->
      <!--<real_time_update_rate>0</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>
    <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='Simple_Maze'>
      <pose frame=''>-3.78616 -2.07429 0 0 -0 0</pose>
      <!--<pose frame=''>0 0 0 0 -0 0</pose>-->
      <link name='Wall_25'>
        <collision name='Wall_25_Collision'>
          <geometry>
            <box>
              <size>12 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_25_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>12 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.760784 0.662745 0.627451 1</ambient>
          </material>
        </visual>
        <pose frame=''>0.000469 -3.92078 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_26'>
        <collision name='Wall_26_Collision'>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_26_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>8 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.760784 0.662745 0.627451 1</ambient>
          </material>
        </visual>
        <pose frame=''>5.92547 0.004224 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_27'>
        <collision name='Wall_27_Collision'>
          <geometry>
            <box>
              <size>2.5 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_27_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>2.5 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.435294 0.796078 0.67451 1</ambient>
          </material>
        </visual>
        <pose frame=''>4.75047 3.92922 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_28'>
        <collision name='Wall_28_Collision'>
          <geometry>
            <box>
              <size>5.5 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_28_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>5.5 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.760784 0.662745 0.627451 1</ambient>
          </material>
        </visual>
        <pose frame=''>3.57547 1.25422 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_29'>
        <collision name='Wall_29_Collision'>
          <geometry>
            <box>
              <size>9.5 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_29_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>9.5 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.760784 0.662745 0.627451 1</ambient>
          </material>
        </visual>
        <pose frame=''>-1.09953 -1.42078 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_30'>
        <collision name='Wall_30_Collision'>
          <geometry>
            <box>
              <size>2.6545 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_30_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>2.6545 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.760784 0.662745 0.627451 1</ambient>
          </material>
        </visual>
        <pose frame=''>-5.84953 -2.67078 0 0 0 -1.63072</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_32'>
        <collision name='Wall_32_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_32_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>-2.01597 -1.46503 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_34'>
        <collision name='Wall_34_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_34_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>0.357428 -1.46503 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_36'>
        <collision name='Wall_36_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_36_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>-2.01597 -3.87922 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_38'>
        <collision name='Wall_38_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_38_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>0.417769 -3.85911 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_40'>
        <collision name='Wall_40_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_40_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>2.65037 -3.85911 0 0 -0 1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_42'>
        <collision name='Wall_42_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_42_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>2.65037 -1.52537 0 0 0 -1.5708</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_44'>
        <collision name='Wall_44_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_44_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>3.64571 -0.952416 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_50'>
        <collision name='Wall_50_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_50_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>5.83866 -0.952416 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_52'>
        <collision name='Wall_52_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_52_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>3.64571 1.09917 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Wall_56'>
        <collision name='Wall_56_Collision'>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_56_Visual'>
          <pose frame=''>0 0 1.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.25 0.15 2.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.996078 0.47451 0.0196078 1</ambient>
          </material>
        </visual>
        <pose frame=''>5.87889 1.11928 0 0 -0 3.14159</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <static>1</static>
    </model>
    <state world_name='default'>
      <sim_time>187 355000000</sim_time>
      <real_time>188 232213400</real_time>
      <wall_time>1469630834 912935002</wall_time>
      <model name='Simple_Maze'>
        <pose frame=''>4.30538 3.27714 0 10 -0 0.143567</pose>
        <!--<pose frame=''>10 10 10 10 0 0</pose>-->
        <link name='Wall_25'>
          <pose frame=''>4.86681 -0.603232 0 0 -0 0.143567</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_26'>
          <pose frame=''>10.1693 4.12911 0 0 -0 1.71437</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_27'>
          <pose frame=''>8.44481 7.84561 0 0 0 -2.99803</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_28'>
          <pose frame=''>7.66462 5.03002 0 0 0 -1.42723</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_29'>
          <pose frame=''>3.42044 1.71367 0 0 0 -2.99803</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_30'>
          <pose frame=''>-1.10185 -0.203078 0 0 0 -1.48715</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_32'>
          <pose frame=''>2.51976 1.53875 0 0 0 -1.42723</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_34'>
          <pose frame=''>4.86874 1.87833 0 0 0 -1.42723</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_36'>
          <pose frame=''>2.86517 -0.850601 0 0 -0 1.71437</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_38'>
          <pose frame=''>5.271 -0.482492 0 0 -0 1.71437</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_40'>
          <pose frame=''>7.48063 -0.163063 0 0 -0 1.71437</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_42'>
          <pose frame=''>7.14673 2.14667 0 0 0 -1.42723</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_44'>
          <pose frame=''>8.04985 2.85613 0 0 -0 0.143567</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_50'>
          <pose frame=''>10.2202 3.16989 0 0 0 -2.99803</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_52'>
          <pose frame=''>7.75632 4.88661 0 0 -0 0.143567</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_56'>
          <pose frame=''>9.96365 5.22603 0 0 0 -2.99803</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 frame=''>0 0 0 0 -0 0</pose>
        <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>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>6.16861 -6.8586 29.2113 -2e-06 1.12038 2.08392</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
  </world>
</sdf>