hotel.world

<?xml version="1.0" encoding="utf-8"?>
<sdf version="1.7">
  <world name="hotel">
    <include>
      <uri>model://CleanerBotA</uri>
      <name>cleanerBotA_2</name>
      <static>false</static>
      <pose>28.980213 -27.447807 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://CleanerBotA</uri>
      <name>cleanerBotA_1</name>
      <static>false</static>
      <pose>26.129745 -27.534933 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://TinyRobot</uri>
      <name>tinyBot_1</name>
      <static>false</static>
      <pose>23.33019 -27.204052 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://DeliveryRobot</uri>
      <name>deliveryBot_1</name>
      <static>false</static>
      <pose>14.414573 -38.65854 0 0 0 0</pose>
    </include>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>0.00000564 0.0000229 -0.0000424</magnetic_field>
    <atmosphere type="adiabatic" />
    <gui fullscreen="false">
      <plugin name="3D View" filename="MinimalScene">
        <gz-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </gz-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>0.4 0.4 0.4</ambient_light>
        <background_color>0.8 0.8 0.8</background_color>
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>
      <plugin name="Entity context menu" filename="EntityContextMenuPlugin">
        <gz-gui>
          <property key="state" type="string">floating</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property type="bool" key="showTitleBar">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Scene Manager" filename="GzSceneManager">
        <gz-gui>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="width">5</property>
          <property key="height" type="double">5</property>
          <property type="string" key="state">floating</property>
          <property type="bool" key="showTitleBar">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Interactive view control" filename="InteractiveViewControl">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property type="double" key="width">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property type="bool" key="showTitleBar">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Camera Tracking" filename="CameraTracking">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="width" type="double">5</property>
          <property key="height" type="double">5</property>
          <property type="string" key="state">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Marker manager" filename="MarkerManager">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property type="double" key="width">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Select Entities" filename="SelectEntities">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property type="double" key="width">5</property>
          <property key="height" type="double">5</property>
          <property key="state" type="string">floating</property>
          <property type="bool" key="showTitleBar">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Spawn Entities" filename="Spawn">
        <gz-gui>
          <property type="bool" key="resizable">false</property>
          <property key="width" type="double">5</property>
          <property type="double" key="height">5</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin name="Visualization Capabilities" filename="VisualizationCapabilities">
        <gz-gui>
          <property type="bool" key="resizable">false</property>
          <property key="width" type="double">5</property>
          <property type="double" key="height">5</property>
          <property type="string" key="state">floating</property>
          <property key="showTitleBar" type="bool">false</property>
        </gz-gui>
      </plugin>
      <plugin name="World control" filename="WorldControl">
        <gz-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property key="height" type="double">72</property>
          <property type="double" key="z">1</property>
          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="left" target="left"></line>
            <line own="bottom" target="bottom"></line>
          </anchors>
        </gz-gui>
        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <use_event>true</use_event>
      </plugin>
      <plugin name="World stats" filename="WorldStats">
        <gz-gui>
          <title>World stats</title>
          <property key="showTitleBar" type="bool">false</property>
          <property type="bool" key="resizable">false</property>
          <property key="height" type="double">110</property>
          <property key="width" type="double">290</property>
          <property key="z" type="double">1</property>
          <property key="state" type="string">floating</property>
          <anchors target="3D View">
            <line own="right" target="right"></line>
            <line own="bottom" target="bottom"></line>
          </anchors>
        </gz-gui>
        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
      </plugin>
      <plugin name="Shapes" filename="Shapes">
        <gz-gui>
          <property type="bool" key="resizable">false</property>
          <property key="x" type="double">0</property>
          <property type="double" key="y">0</property>
          <property key="width" type="double">250</property>
          <property key="height" type="double">50</property>
          <property type="string" key="state">floating</property>
          <property key="showTitleBar" type="bool">false</property>
          <property type="string" key="cardBackground">#666666</property>
        </gz-gui>
      </plugin>
      <plugin name="Lights" filename="Lights">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="x" type="double">250</property>
          <property key="y" type="double">0</property>
          <property type="double" key="width">150</property>
          <property type="double" key="height">50</property>
          <property type="string" key="state">floating</property>
          <property type="bool" key="showTitleBar">false</property>
          <property key="cardBackground" type="string">#666666</property>
        </gz-gui>
      </plugin>
      <plugin name="Transform control" filename="TransformControl">
        <gz-gui>
          <property type="bool" key="resizable">false</property>
          <property key="x" type="double">0</property>
          <property type="double" key="y">50</property>
          <property type="double" key="width">250</property>
          <property key="height" type="double">50</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
          <property type="string" key="cardBackground">#777777</property>
        </gz-gui>
      </plugin>
      <plugin name="Screenshot" filename="Screenshot">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property key="x" type="double">250</property>
          <property key="y" type="double">50</property>
          <property key="width" type="double">50</property>
          <property type="double" key="height">50</property>
          <property key="state" type="string">floating</property>
          <property key="showTitleBar" type="bool">false</property>
          <property key="cardBackground" type="string">#777777</property>
        </gz-gui>
      </plugin>
      <plugin name="CopyPaste" filename="CopyPaste">
        <gz-gui>
          <property key="resizable" type="bool">false</property>
          <property type="double" key="x">300</property>
          <property key="y" type="double">50</property>
          <property type="double" key="width">100</property>
          <property type="double" key="height">50</property>
          <property key="state" type="string">floating</property>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="cardBackground">#777777</property>
        </gz-gui>
      </plugin>
      <plugin name="Component inspector" filename="ComponentInspector">
        <gz-gui>
          <property key="showTitleBar" type="bool">false</property>
          <property key="state" type="string">docked</property>
        </gz-gui>
      </plugin>
      <plugin name="Entity tree" filename="EntityTree">
        <gz-gui>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </gz-gui>
      </plugin>
      <plugin name="toggle_charging" filename="toggle_charging" />
      <plugin name="toggle_floors" filename="toggle_floors">
        <floor name="L1" model_name="level_L1">
          <model name="L1_door1"></model>
          <model name="L1_door2"></model>
          <model name="L1_door3"></model>
          <model name="L1_door4"></model>
          <model name="L1_door5"></model>
          <model name="ShaftDoor_L1_Lift1_door_Right"></model>
          <model name="ShaftDoor_L1_Lift2_door_Left"></model>
        </floor>
        <floor name="L2" model_name="level_L2">
          <model name="L2_door2"></model>
          <model name="L2_door5"></model>
          <model name="L2_door9"></model>
          <model name="L2_door11"></model>
          <model name="L2_door12"></model>
          <model name="L2_door14"></model>
          <model name="L2_door15"></model>
          <model name="ShaftDoor_L2_Lift1_door_Right"></model>
          <model name="ShaftDoor_L2_Lift2_door_Left"></model>
        </floor>
        <floor name="L3" model_name="level_L3">
          <model name="L3_door2"></model>
          <model name="L3_door5"></model>
          <model name="L3_door9"></model>
          <model name="L3_door11"></model>
          <model name="L3_door12"></model>
          <model name="L3_door14"></model>
          <model name="L3_door15"></model>
          <model name="ShaftDoor_L3_Lift1_door_Right"></model>
          <model name="ShaftDoor_L3_Lift2_door_Left"></model>
        </floor>
      </plugin>
    </gui>
    <physics name="10ms" type="ode">
      <max_step_size>0.01</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>0</real_time_update_rate>
    </physics>
    <scene>
      <ambient>1 1 1</ambient>
      <background>0.8 0.8 0.8</background>
      <shadows>false</shadows>
      <grid>false</grid>
    </scene>
    <light name="sun" type="directional">
      <cast_shadows>true</cast_shadows>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <linear>0.001</linear>
        <constant>0.09</constant>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
      <pose>0 0 10 0 0 0</pose>
    </light>
    <model name="level_L1">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>meshes/level_L1_collision.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x01</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>meshes/level_L1_visual.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="L1_door1">
      <static>false</static>
      <pose>10.645597 -33.523422 0 0 0 0.61915064</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door1_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door1_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door1_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door1_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="revolute">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 -1.4288467 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="revolute">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>-1.5707963705062866</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.4288467 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door right_joint_name="right_joint" type="DoubleSwingDoor" left_joint_name="left_joint" name="L1_door1"></door>
        </component>
      </plugin>
    </model>
    <model name="L1_door2">
      <static>false</static>
      <pose>11.408289 -19.443226 0 0 0 1.574896</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door2_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door2_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door2_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door2_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.4624966382980347</upper>
          </limit>
        </axis>
        <pose>0 -1.4624966 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-1.4624966382980347</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.4624966 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="left_joint" right_joint_name="right_joint" name="L1_door2" type="DoubleSlidingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="L1_door3">
      <static>false</static>
      <pose>20.142498 -40.08065 0 0 0 1.5744427</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door3_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door3_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door3_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door3_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.7988390922546387</upper>
          </limit>
        </axis>
        <pose>0 -1.7988391 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-1.7988390922546387</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.7988391 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L1_door3" type="DoubleSlidingDoor" right_joint_name="right_joint" left_joint_name="left_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L1_door4">
      <static>false</static>
      <pose>19.379818 -11.027125 0 0 0 -1.5808365</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door4_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door4_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.7936143 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" name="L1_door4" right_joint_name="joint" type="SwingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="L1_door5">
      <static>false</static>
      <pose>27.828506 -30.198242 0 0 0 -1.5737354</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door5_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door5_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L1_door5_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L1_door5_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.4864757061004639</upper>
          </limit>
        </axis>
        <pose>0 -1.4864757 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-1.4864757061004639</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.4864757 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L1_door5" left_joint_name="left_joint" right_joint_name="right_joint" type="DoubleSlidingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="level_L2">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>meshes/level_L2_collision.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x01</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>meshes/level_L2_visual.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="L2_door2">
      <static>false</static>
      <pose>6.701728 -32.62731 8 0 0 0.00027196723</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door2_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door2_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door2_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door2_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="revolute">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 -1.124735 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="revolute">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.5707963705062866</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.124735 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door right_joint_name="right_joint" type="DoubleSwingDoor" name="L2_door2" left_joint_name="left_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door5">
      <static>false</static>
      <pose>19.436588 -33.930355 8 0 0 1.5652062</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door5_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door5_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.71242106 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L2_door5" left_joint_name="empty_joint" right_joint_name="joint" type="SwingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door9">
      <static>false</static>
      <pose>12.903557 -17.622631 8 0 0 0.01612848</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door9_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door9_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.69016373 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" type="SwingDoor" name="L2_door9" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door11">
      <static>false</static>
      <pose>12.960176 -8.241903 8 0 0 0.00027222242</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door11_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door11_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.79524714 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L2_door11" right_joint_name="joint" type="SwingDoor" left_joint_name="empty_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door12">
      <static>false</static>
      <pose>15.143755 -27.052217 8 0 0 0.00027176435</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door12_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door12_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.78079605 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" type="SwingDoor" right_joint_name="joint" name="L2_door12"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door14">
      <static>false</static>
      <pose>22.373764 -30.838089 8 0 0 1.5664383</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door14_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door14_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.6435837 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L2_door14" type="SwingDoor" left_joint_name="empty_joint" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L2_door15">
      <static>false</static>
      <pose>28.926197 -33.905502 8 0 0 1.5573926</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L2_door15_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L2_door15_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.64335877 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door type="SwingDoor" right_joint_name="joint" left_joint_name="empty_joint" name="L2_door15"></door>
        </component>
      </plugin>
    </model>
    <model name="level_L3">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>meshes/level_L3_collision.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x01</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>meshes/level_L3_visual.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="L3_door2">
      <static>false</static>
      <pose>6.701728 -32.62731 16 0 0 0.00027196723</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door2_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door2_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door2_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door2_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="right_joint" type="revolute">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 -1.124735 1.25 0 0 0</pose>
      </joint>
      <joint name="left_joint" type="revolute">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1.5707963705062866</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 1.124735 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L3_door2" left_joint_name="left_joint" type="DoubleSwingDoor" right_joint_name="right_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door5">
      <static>false</static>
      <pose>19.436588 -33.930355 16 0 0 1.5652062</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door5_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door5_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.71242106 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" right_joint_name="joint" name="L3_door5" type="SwingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door9">
      <static>false</static>
      <pose>12.903557 -17.622631 16 0 0 0.01612848</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door9_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door9_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.69016373 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door type="SwingDoor" left_joint_name="empty_joint" name="L3_door9" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door11">
      <static>false</static>
      <pose>12.960176 -8.241903 16 0 0 0.00027222242</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door11_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door11_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.79524714 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" type="SwingDoor" right_joint_name="joint" name="L3_door11"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door12">
      <static>false</static>
      <pose>15.143755 -27.052217 16 0 0 0.00027176435</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door12_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door12_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.78079605 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door type="SwingDoor" left_joint_name="empty_joint" name="L3_door12" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door14">
      <static>false</static>
      <pose>22.373764 -30.838089 16 0 0 1.5664383</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door14_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door14_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.6435837 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door name="L3_door14" type="SwingDoor" left_joint_name="empty_joint" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="L3_door15">
      <static>false</static>
      <pose>28.926197 -33.905502 16 0 0 1.5573926</pose>
      <link name="body">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="body_collision">
          <geometry>
            <mesh>
              <uri>meshes/L3_door15_body.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="body_visual">
          <geometry>
            <mesh>
              <uri>meshes/L3_door15_body.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="joint" type="revolute">
        <parent>world</parent>
        <child>body</child>
        <axis>
          <xyz>0 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>1.5707963705062866</upper>
          </limit>
        </axis>
        <pose>0 0.64335877 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.5</v_max_door>
          <a_max_door>0.3</a_max_door>
          <a_nom_door>0.15</a_nom_door>
          <dx_min_door>0.01</dx_min_door>
          <f_max_door>500.0</f_max_door>
          <ros_interface>true</ros_interface>
          <door left_joint_name="empty_joint" name="L3_door15" type="SwingDoor" right_joint_name="joint"></door>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L1_Lift1_door_Right">
      <static>false</static>
      <pose>19.456131 -20.409502 0 0 0 -1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift1_Rightright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift1_Rightleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door name="ShaftDoor_L1_Lift1_door_Right" right_joint_name="Lift1_Rightright_joint" type="DoubleSlidingDoor" left_joint_name="Lift1_Rightleft_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L2_Lift1_door_Right">
      <static>false</static>
      <pose>19.456131 -20.409502 8 0 0 -1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift1_Rightright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift1_Rightleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door name="ShaftDoor_L2_Lift1_door_Right" left_joint_name="Lift1_Rightleft_joint" right_joint_name="Lift1_Rightright_joint" type="DoubleSlidingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L3_Lift1_door_Right">
      <static>false</static>
      <pose>19.456131 -20.409502 16 0 0 -1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1_Right_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift1_Rightright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift1_Rightleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door left_joint_name="Lift1_Rightleft_joint" right_joint_name="Lift1_Rightright_joint" name="ShaftDoor_L3_Lift1_door_Right" type="DoubleSlidingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="Lift1">
      <static>false</static>
      <model name="CabinDoor_Lift1_door_Right">
        <static>false</static>
        <pose>0 -1.45 0 0 0 -1.5707964</pose>
        <link name="right">
          <inertial>
            <mass>50</mass>
            <inertia>
              <ixx>20</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>20</iyy>
              <iyz>0</iyz>
              <izz>5</izz>
            </inertia>
          </inertial>
          <collision name="right_collision">
            <geometry>
              <mesh>
                <uri>meshes/Lift1_Right_right.glb</uri>
              </mesh>
            </geometry>
            <surface>
              <contact>
                <collide_bitmask>0x02</collide_bitmask>
              </contact>
            </surface>
          </collision>
          <visual name="right_visual">
            <geometry>
              <mesh>
                <uri>meshes/Lift1_Right_right.glb</uri>
              </mesh>
            </geometry>
          </visual>
        </link>
        <link name="left">
          <inertial>
            <mass>50</mass>
            <inertia>
              <ixx>20</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>20</iyy>
              <iyz>0</iyz>
              <izz>5</izz>
            </inertia>
          </inertial>
          <collision name="left_collision">
            <geometry>
              <mesh>
                <uri>meshes/Lift1_Right_left.glb</uri>
              </mesh>
            </geometry>
            <surface>
              <contact>
                <collide_bitmask>0x02</collide_bitmask>
              </contact>
            </surface>
          </collision>
          <visual name="left_visual">
            <geometry>
              <mesh>
                <uri>meshes/Lift1_Right_left.glb</uri>
              </mesh>
            </geometry>
          </visual>
        </link>
        <plugin name="register_component" filename="libregister_component.so">
          <component name="Door">
            <v_max_door>0.2</v_max_door>
            <a_max_door>0.2</a_max_door>
            <a_nom_door>0.08</a_nom_door>
            <dx_min_door>0.001</dx_min_door>
            <f_max_door>100.0</f_max_door>
            <ros_interface>false</ros_interface>
            <door name="CabinDoor_Lift1_door_Right" right_joint_name="Lift1_Rightright_joint" type="DoubleSlidingDoor" left_joint_name="Lift1_Rightleft_joint"></door>
          </component>
        </plugin>
      </model>
      <pose>19.456131 -18.784502 0 0 0 0.0005432409</pose>
      <link name="platform">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift1.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x04</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift1.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="cabin_joint" type="prismatic">
        <parent>world</parent>
        <child>platform</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>16</upper>
          </limit>
        </axis>
      </joint>
      <joint name="Lift1_Rightright_joint" type="prismatic">
        <parent>platform</parent>
        <child>CabinDoor_Lift1_door_Right::right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift1_Rightleft_joint" type="prismatic">
        <parent>platform</parent>
        <child>CabinDoor_Lift1_door_Right::left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Lift">
          <floor elevation="0" name="L1">
            <door_pair shaft_door="ShaftDoor_L1_Lift1_door_Right" cabin_door="CabinDoor_Lift1_door_Right"></door_pair>
          </floor>
          <floor name="L2" elevation="8">
            <door_pair shaft_door="ShaftDoor_L2_Lift1_door_Right" cabin_door="CabinDoor_Lift1_door_Right"></door_pair>
          </floor>
          <floor name="L3" elevation="16">
            <door_pair shaft_door="ShaftDoor_L3_Lift1_door_Right" cabin_door="CabinDoor_Lift1_door_Right"></door_pair>
          </floor>
          <lift_name>Lift1</lift_name>
          <initial_floor>L1</initial_floor>
          <v_max_cabin>2.0</v_max_cabin>
          <a_max_cabin>1.2</a_max_cabin>
          <a_nom_cabin>1.0</a_nom_cabin>
          <dx_min_cabin>0.001</dx_min_cabin>
          <f_max_cabin>25323.0</f_max_cabin>
          <cabin_joint_name>cabin_joint</cabin_joint_name>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L1_Lift2_door_Left">
      <static>false</static>
      <pose>16.692528 -22.403429 0 0 0 1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift2_Leftright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift2_Leftleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door type="DoubleSlidingDoor" left_joint_name="Lift2_Leftleft_joint" right_joint_name="Lift2_Leftright_joint" name="ShaftDoor_L1_Lift2_door_Left"></door>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L2_Lift2_door_Left">
      <static>false</static>
      <pose>16.692528 -22.403429 8 0 0 1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift2_Leftright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift2_Leftleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door type="DoubleSlidingDoor" right_joint_name="Lift2_Leftright_joint" name="ShaftDoor_L2_Lift2_door_Left" left_joint_name="Lift2_Leftleft_joint"></door>
        </component>
      </plugin>
    </model>
    <model name="ShaftDoor_L3_Lift2_door_Left">
      <static>false</static>
      <pose>16.692528 -22.403429 16 0 0 1.5707964</pose>
      <link name="right">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="right_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="right_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_right.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <link name="left">
        <inertial>
          <mass>50</mass>
          <inertia>
            <ixx>20</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>20</iyy>
            <iyz>0</iyz>
            <izz>5</izz>
          </inertia>
        </inertial>
        <collision name="left_collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="left_visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2_Left_left.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="Lift2_Leftright_joint" type="prismatic">
        <parent>world</parent>
        <child>right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift2_Leftleft_joint" type="prismatic">
        <parent>world</parent>
        <child>left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Door">
          <v_max_door>0.2</v_max_door>
          <a_max_door>0.2</a_max_door>
          <a_nom_door>0.08</a_nom_door>
          <dx_min_door>0.001</dx_min_door>
          <f_max_door>100.0</f_max_door>
          <ros_interface>false</ros_interface>
          <door right_joint_name="Lift2_Leftright_joint" left_joint_name="Lift2_Leftleft_joint" name="ShaftDoor_L3_Lift2_door_Left" type="DoubleSlidingDoor"></door>
        </component>
      </plugin>
    </model>
    <model name="Lift2">
      <static>false</static>
      <model name="CabinDoor_Lift2_door_Left">
        <static>false</static>
        <pose>0 1.45 0 0 0 1.5707964</pose>
        <link name="right">
          <inertial>
            <mass>50</mass>
            <inertia>
              <ixx>20</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>20</iyy>
              <iyz>0</iyz>
              <izz>5</izz>
            </inertia>
          </inertial>
          <collision name="right_collision">
            <geometry>
              <mesh>
                <uri>meshes/Lift2_Left_right.glb</uri>
              </mesh>
            </geometry>
            <surface>
              <contact>
                <collide_bitmask>0x02</collide_bitmask>
              </contact>
            </surface>
          </collision>
          <visual name="right_visual">
            <geometry>
              <mesh>
                <uri>meshes/Lift2_Left_right.glb</uri>
              </mesh>
            </geometry>
          </visual>
        </link>
        <link name="left">
          <inertial>
            <mass>50</mass>
            <inertia>
              <ixx>20</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>20</iyy>
              <iyz>0</iyz>
              <izz>5</izz>
            </inertia>
          </inertial>
          <collision name="left_collision">
            <geometry>
              <mesh>
                <uri>meshes/Lift2_Left_left.glb</uri>
              </mesh>
            </geometry>
            <surface>
              <contact>
                <collide_bitmask>0x02</collide_bitmask>
              </contact>
            </surface>
          </collision>
          <visual name="left_visual">
            <geometry>
              <mesh>
                <uri>meshes/Lift2_Left_left.glb</uri>
              </mesh>
            </geometry>
          </visual>
        </link>
        <plugin name="register_component" filename="libregister_component.so">
          <component name="Door">
            <v_max_door>0.2</v_max_door>
            <a_max_door>0.2</a_max_door>
            <a_nom_door>0.08</a_nom_door>
            <dx_min_door>0.001</dx_min_door>
            <f_max_door>100.0</f_max_door>
            <ros_interface>false</ros_interface>
            <door type="DoubleSlidingDoor" left_joint_name="Lift2_Leftleft_joint" right_joint_name="Lift2_Leftright_joint" name="CabinDoor_Lift2_door_Left"></door>
          </component>
        </plugin>
      </model>
      <pose>16.692528 -24.028429 0 0 0 0.0005432409</pose>
      <link name="platform">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>meshes/Lift2.glb</uri>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x04</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>meshes/Lift2.glb</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
      <joint name="cabin_joint" type="prismatic">
        <parent>world</parent>
        <child>platform</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>16</upper>
          </limit>
        </axis>
      </joint>
      <joint name="Lift2_Leftright_joint" type="prismatic">
        <parent>platform</parent>
        <child>CabinDoor_Lift2_door_Left::right</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.8500000238418579</upper>
          </limit>
        </axis>
        <pose>0 -0.85 1.25 0 0 0</pose>
      </joint>
      <joint name="Lift2_Leftleft_joint" type="prismatic">
        <parent>platform</parent>
        <child>CabinDoor_Lift2_door_Left::left</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.8500000238418579</lower>
            <upper>0</upper>
          </limit>
        </axis>
        <pose>0 0.85 1.25 0 0 0</pose>
      </joint>
      <plugin name="register_component" filename="libregister_component.so">
        <component name="Lift">
          <floor elevation="0" name="L1">
            <door_pair cabin_door="CabinDoor_Lift2_door_Left" shaft_door="ShaftDoor_L1_Lift2_door_Left"></door_pair>
          </floor>
          <floor name="L2" elevation="8">
            <door_pair shaft_door="ShaftDoor_L2_Lift2_door_Left" cabin_door="CabinDoor_Lift2_door_Left"></door_pair>
          </floor>
          <floor elevation="16" name="L3">
            <door_pair shaft_door="ShaftDoor_L3_Lift2_door_Left" cabin_door="CabinDoor_Lift2_door_Left"></door_pair>
          </floor>
          <lift_name>Lift2</lift_name>
          <initial_floor>L1</initial_floor>
          <v_max_cabin>2.0</v_max_cabin>
          <a_max_cabin>1.2</a_max_cabin>
          <a_nom_cabin>1.0</a_nom_cabin>
          <dx_min_cabin>0.001</dx_min_cabin>
          <f_max_cabin>25323.0</f_max_cabin>
          <cabin_joint_name>cabin_joint</cabin_joint_name>
        </component>
      </plugin>
    </model>
    <plugin name="gz::sim::systems::Physics" filename="libgz-sim-physics-system.so" />
    <plugin name="gz::sim::systems::UserCommands" filename="libgz-sim-user-commands-system.so" />
    <plugin name="gz::sim::systems::SceneBroadcaster" filename="libgz-sim-scene-broadcaster-system.so" />
    <plugin name="door" filename="libdoor.so" />
    <plugin name="lift" filename="liblift.so" />
  </world>
</sdf>