├── husky_simulator
    ├── CMakeLists.txt
    ├── package.xml
    └── CHANGELOG.rst
├── husky_gazebo
    ├── env-hooks
    │   └── 50.husky_gazebo.sh
    ├── urdf
    │   ├── empty.urdf
    │   ├── accessories
    │   │   └── kinect_camera.gazebo.xacro
    │   ├── description.gazebo.xacro
    │   └── husky.gazebo.xacro
    ├── CMakeLists.txt
    ├── package.xml
    ├── launch
    │   ├── husky_playpen.launch
    │   ├── husky_empty_world.launch
    │   └── spawn_husky.launch
    ├── CHANGELOG.rst
    └── worlds
    │   └── clearpath_playpen.world
├── README.md
└── .gitignore


/husky_simulator/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(husky_simulator)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 | 


--------------------------------------------------------------------------------
/husky_gazebo/env-hooks/50.husky_gazebo.sh:
--------------------------------------------------------------------------------
1 | export HUSKY_GAZEBO_DESCRIPTION=$(catkin_find --without-underlays --first-only husky_gazebo urdf/description.gazebo.xacro 2>/dev/null)
2 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | husky_simualtor
2 | ==============
3 | 
4 | Simulator ROS packages for the Clearpath Husky.
5 | 
6 |  - husky_gazebo : Gazebo plugin definitions and extensions to the robot URDF.
7 | 
8 | For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky
9 | 


--------------------------------------------------------------------------------
/husky_gazebo/urdf/empty.urdf:
--------------------------------------------------------------------------------
1 | <robot>
2 |   <!-- This file is a placeholder which is included by default from
3 |        husky.urdf.xacro. If a robot is being customized and requires
4 |        additional URDF, set the HUSKY_URDF_EXTRAS environment variable
5 |        to the full path of the file you would like included. -->
6 | </robot>
7 | 


--------------------------------------------------------------------------------
/husky_gazebo/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 2.8.3)
 2 | project(husky_gazebo)
 3 | 
 4 | find_package(catkin REQUIRED COMPONENTS roslaunch)
 5 | 
 6 | catkin_package()
 7 | catkin_add_env_hooks(50.husky_gazebo
 8 |   SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 9 | 
10 | roslaunch_add_file_check(launch)
11 | 
12 | install(
13 |   DIRECTORY launch worlds urdf
14 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
15 | )
16 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
 1 | build/
 2 | bin/
 3 | lib/
 4 | msg_gen/
 5 | srv_gen/
 6 | msg/*Action.msg
 7 | msg/*ActionFeedback.msg
 8 | msg/*ActionGoal.msg
 9 | msg/*ActionResult.msg
10 | msg/*Feedback.msg
11 | msg/*Goal.msg
12 | msg/*Result.msg
13 | msg/_*.py
14 | 
15 | # Generated by dynamic reconfigure
16 | *.cfgc
17 | /cfg/cpp/
18 | /cfg/*.py
19 | 
20 | # Ignore generated docs
21 | *.dox
22 | *.wikidoc
23 | 
24 | # eclipse stuff
25 | .project
26 | .cproject
27 | 
28 | # qcreator stuff
29 | CMakeLists.txt.user
30 | 
31 | srv/_*.py
32 | *.pcd
33 | *.pyc
34 | qtcreator-*
35 | *.user
36 | 
37 | /planning/cfg
38 | /planning/docs
39 | /planning/src
40 | 
41 | *~
42 | 
43 | # Emacs
44 | .#*
45 | 
46 | # Catkin custom files
47 | CATKIN_IGNORE
48 | 


--------------------------------------------------------------------------------
/husky_simulator/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>husky_simulator</name>
 4 |   <version>0.2.7</version>
 5 |   <description>Metapackage for Clearpath Husky simulation software</description>
 6 | 
 7 |   <maintainer email="pbovbel@clearpathrobotics.com">Paul Bovbel</maintainer>
 8 | 
 9 |   <license>BSD</license>
10 | 
11 |   <url type="website">http://ros.org/wiki/husky_simulator</url>
12 |   <url type="bugtracker">https://github.com/husky/husky_simulator/issues</url>
13 |   <url type="repository">https://github.com/husly/husky_simulator</url>
14 | 
15 |   <buildtool_depend>catkin</buildtool_depend>
16 |   <run_depend>husky_gazebo</run_depend>
17 | 
18 |   <export>
19 |     <metapackage/>
20 |   </export>
21 | </package>
22 | 


--------------------------------------------------------------------------------
/husky_simulator/CHANGELOG.rst:
--------------------------------------------------------------------------------
 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 2 | Changelog for package husky_simulator
 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 4 | 
 5 | 0.2.7 (2018-04-11)
 6 | ------------------
 7 | 
 8 | 0.2.6 (2016-10-26)
 9 | ------------------
10 | 
11 | 0.2.5 (2015-12-31)
12 | ------------------
13 | 
14 | 0.2.4 (2015-07-08)
15 | ------------------
16 | 
17 | 0.2.3 (2015-04-13)
18 | ------------------
19 | 
20 | 0.2.2 (2015-04-08)
21 | ------------------
22 | 
23 | 0.2.1 (2015-03-23)
24 | ------------------
25 | 
26 | 0.2.0 (2015-03-23)
27 | ------------------
28 | 
29 | 0.1.4 (2015-02-11)
30 | ------------------
31 | 
32 | 0.1.3 (2015-02-06)
33 | ------------------
34 | 
35 | 0.1.2 (2015-01-30)
36 | ------------------
37 | * Update authors
38 | * Contributors: Paul Bovbel
39 | 
40 | 0.1.1 (2015-01-14)
41 | ------------------
42 | * Contributors: Paul Bovbel
43 | 
44 | 0.1.0 (2015-01-13)
45 | ------------------
46 | * Removed husky_gazebo_plugins in favor of ros_control
47 | * Contributors: Paul Bovbel
48 | 
49 | 0.0.3 (2013-11-01)
50 | ------------------
51 | 
52 | 0.0.2 (2013-09-30)
53 | ------------------
54 | 
55 | 0.0.1 (2013-09-29)
56 | ------------------
57 | * Add husky_simulator metapackage.
58 | 


--------------------------------------------------------------------------------
/husky_gazebo/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>husky_gazebo</name>
 4 |   <version>0.2.7</version>
 5 |   <description>Clearpath Husky Simulator bringup</description>
 6 | 
 7 |   <author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
 8 |   <author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
 9 |   <author email="pbovbel@clearpathrobotics.com">Paul Bovbel</author>
10 |   <author email="dash@clearpathrobotics.com">Devon Ash</author>
11 | 
12 |   <maintainer email="pbovbel@clearpathrobotics.com">Paul Bovbel</maintainer>
13 | 
14 |   <license>BSD</license>
15 | 
16 |   <url type="website">http://ros.org/wiki/husky_gazebo</url>
17 |   <url type="bugtracker">https://github.com/husky/husky_simulator/issues</url>
18 |   <url type="repository">https://github.com/husly/husky_simulator</url>
19 | 
20 |   <buildtool_depend>catkin</buildtool_depend>
21 |   <build_depend>roslaunch</build_depend>
22 |   <run_depend>controller_manager</run_depend>
23 |   <run_depend>gazebo_plugins</run_depend>
24 |   <run_depend>gazebo_ros</run_depend>
25 |   <run_depend>gazebo_ros_control</run_depend>
26 |   <run_depend>hector_gazebo_plugins</run_depend>
27 |   <run_depend>husky_control</run_depend>
28 |   <run_depend>husky_description</run_depend>
29 |   <run_depend>pointcloud_to_laserscan</run_depend>
30 |   <run_depend>robot_state_publisher</run_depend>
31 |   <run_depend>rostopic</run_depend>
32 | 
33 |   <export>
34 |   </export>
35 | </package>
36 | 


--------------------------------------------------------------------------------
/husky_gazebo/urdf/accessories/kinect_camera.gazebo.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <root xmlns:xacro="http://ros.org/wiki/xacro">
 3 | 
 4 | <xacro:macro name="kinect_camera_gazebo" params="prefix">
 5 | 
 6 |   <joint name="${prefix}_optical_joint" type="fixed">
 7 |     <origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
 8 |     <parent link="${prefix}_link"/>
 9 |     <child link="${prefix}_frame_optical"/>
10 |   </joint>
11 | 
12 |   <link name="${prefix}_frame_optical"/>
13 | 
14 |   <gazebo reference="${prefix}_link">
15 |     <sensor type="depth" name="${prefix}">
16 |       <always_on>true</always_on>
17 |       <update_rate>20.0</update_rate>
18 |       <camera>
19 |         <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
20 |         <image>
21 |           <format>R8G8B8</format>
22 |           <width>640</width>
23 |           <height>480</height>
24 |         </image>
25 |         <clip>
26 |           <near>0.05</near>
27 |           <far>8.0</far>
28 |         </clip>
29 |       </camera>
30 |       <plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
31 |         <cameraName>${prefix}</cameraName>
32 |         <alwaysOn>true</alwaysOn>
33 |         <updateRate>10</updateRate>
34 |         <imageTopicName>rgb/image_raw</imageTopicName>
35 |         <depthImageTopicName>depth/image_raw</depthImageTopicName>
36 |         <pointCloudTopicName>depth/points</pointCloudTopicName>
37 |         <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
38 |         <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
39 |         <frameName>${prefix}_frame_optical</frameName>
40 |         <baseline>0.1</baseline>
41 |         <distortion_k1>0.0</distortion_k1>
42 |         <distortion_k2>0.0</distortion_k2>
43 |         <distortion_k3>0.0</distortion_k3>
44 |         <distortion_t1>0.0</distortion_t1>
45 |         <distortion_t2>0.0</distortion_t2>
46 |         <pointCloudCutoff>0.4</pointCloudCutoff>
47 |       </plugin>
48 |     </sensor>
49 |   </gazebo>
50 | </xacro:macro>
51 | 
52 | </root>
53 | 
54 | 


--------------------------------------------------------------------------------
/husky_gazebo/launch/husky_playpen.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <!--
 3 | Software License Agreement (BSD)
 4 | 
 5 | \file      husky_playpen.launch
 6 | \authors   Paul Bovbel <pbovbel@clearpathrobotics.com
 7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 8 | 
 9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
10 | the following conditions are met:
11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
12 |    following disclaimer.
13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
16 |    products derived from this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 | -->
26 | <launch>
27 | 
28 |   <arg name="laser_enabled" default="$(optenv HUSKY_LASER_ENABLED true)"/>
29 |   <arg name="ur5_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/>
30 |   <arg name="kinect_enabled" default="$(optenv HUSKY_KINECT_ENABLED false)"/>
31 | 
32 |   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
33 |   <include file="$(find husky_gazebo)/launch/husky_empty_world.launch">
34 |     <arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
35 |     <arg name="laser_enabled" value="$(arg laser_enabled)"/>
36 |     <arg name="ur5_enabled" value="$(arg ur5_enabled)"/>
37 |     <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
38 |   </include>
39 | 
40 | </launch>
41 | 


--------------------------------------------------------------------------------
/husky_gazebo/urdf/description.gazebo.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <!--
 3 | Software License Agreement (BSD)
 4 | 
 5 | \file      description.gazebo.xacro
 6 | \authors   Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
 7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 8 | 
 9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
10 | the following conditions are met:
11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
12 |    following disclaimer.
13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
16 |    products derived from this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 | -->
26 | <robot name="husky_robot_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
27 |   <xacro:arg name="laser_enabled" default="true" />
28 |   <xacro:arg name="ur5_enabled" default="false" />
29 |   <xacro:arg name="kinect_enabled" default="false" />
30 | 
31 |   <xacro:include filename="$(find husky_description)/urdf/husky.urdf.xacro" />
32 |   <xacro:include filename="$(find husky_gazebo)/urdf/husky.gazebo.xacro" />
33 | 
34 |   <!-- Gazebo plugin for ROS Control -->
35 |   <gazebo>
36 |     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
37 |       <robotNamespace>/</robotNamespace>
38 |     </plugin>
39 |   </gazebo>
40 | 
41 |   <xacro:husky_robot />
42 | 
43 |   <xacro:husky_robot_gazebo />
44 | 
45 | </robot>
46 | 


--------------------------------------------------------------------------------
/husky_gazebo/CHANGELOG.rst:
--------------------------------------------------------------------------------
 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 2 | Changelog for package husky_gazebo
 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 4 | 
 5 | 0.2.7 (2018-04-11)
 6 | ------------------
 7 | * Added empty.urdf to fix vanilla husky gazebo crash
 8 | * Respect env var setup similar to husky_description
 9 | * URDF Parameters for Husky Gazebo dnt respect envvr
10 |   Changed so the launch files follow the same convention as husky_description
11 | * Contributors: Dave Niewinski, Devon Ash
12 | 
13 | 0.2.6 (2016-10-26)
14 | ------------------
15 | * spawn_husky.launch: enable to use custom controller files, i.e effort controller
16 | * spawn_husky.launch: support argument to set urdf file and initial pose
17 | * Contributors: Kei Okada
18 | 
19 | 0.2.5 (2015-12-31)
20 | ------------------
21 | * Removed duplicate SICK laser plugin in husky_gazebo, since husky_description already contains a SICK laser plugin from the lms package.
22 | * Contributors: Peiyi Chen
23 | 
24 | 0.2.4 (2015-07-08)
25 | ------------------
26 | * Add pointcloud to laserscan config for simulated kinect
27 | * Contributors: Paul Bovbel
28 | 
29 | 0.2.3 (2015-04-13)
30 | ------------------
31 | * Fix conflict with underlay
32 |   When using -z check, underlayed instances of husky_gazebo would override overlays.
33 | * Contributors: Paul Bovbel
34 | 
35 | 0.2.2 (2015-04-08)
36 | ------------------
37 | * Reduce physics update rate
38 | * Integrate husky_customization workflow
39 | * Contributors: Paul Bovbel
40 | 
41 | 0.2.1 (2015-03-23)
42 | ------------------
43 | * Fix package urls
44 | * Add missing dependency
45 | * Contributors: Paul Bovbel
46 | 
47 | 0.2.0 (2015-03-23)
48 | ------------------
49 | * Refactor URDF
50 | * Add UR5 and Kinect simulation
51 | * Contributors: Paul Bovbel, TheDash
52 | 
53 | 0.1.4 (2015-02-11)
54 | ------------------
55 | * Add missing dependency
56 | * Contributors: Paul Bovbel
57 | 
58 | 0.1.3 (2015-02-06)
59 | ------------------
60 | * Fix installing
61 | * Contributors: Paul Bovbel
62 | 
63 | 0.1.2 (2015-01-30)
64 | ------------------
65 | * Update authors
66 | * Add missing dependency
67 | * Reduce sensor range
68 | * Contributors: Paul Bovbel
69 | 
70 | 0.1.1 (2015-01-14)
71 | ------------------
72 | * Remove multirobot prefixing, experiment later
73 | * Contributors: Paul Bovbel
74 | 
75 | 0.1.0 (2015-01-13)
76 | ------------------
77 | * Major refactor for indigo:
78 |   * All gazebo plugins moved to urdf/description.gazebo.xacro from husky_description
79 |   * Ported to ros_control
80 | * Contributors: James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
81 | 
82 | 0.0.3 (2013-11-01)
83 | ------------------
84 | 
85 | 0.0.2 (2013-09-30)
86 | ------------------
87 | * added package installation rules
88 | 
89 | 0.0.1 (2013-09-29)
90 | ------------------
91 | * Initial release for Hydro.
92 | 


--------------------------------------------------------------------------------
/husky_gazebo/launch/husky_empty_world.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <!--
 3 | Software License Agreement (BSD)
 4 | 
 5 | \file      husky_empty_world.launch
 6 | \authors   Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
 7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 8 | 
 9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
10 | the following conditions are met:
11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
12 |    following disclaimer.
13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
16 |    products derived from this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 | -->
26 | <launch>
27 | 
28 |   <arg name="world_name" default="worlds/empty.world"/>
29 | 
30 |   <arg name="laser_enabled" default="$(optenv HUSKY_LASER_ENABLED true)"/>
31 |   <arg name="ur5_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/>
32 |   <arg name="kinect_enabled" default="$(optenv HUSKY_KINECT_ENABLED false)"/>
33 | 
34 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
35 |     <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
36 |     <arg name="paused" value="false"/>
37 |     <arg name="use_sim_time" value="true"/>
38 |     <arg name="gui" value="true"/>
39 |     <arg name="headless" value="false"/>
40 |     <arg name="debug" value="false"/>
41 |   </include>
42 | 
43 |   <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
44 |     <arg name="laser_enabled" value="$(arg laser_enabled)"/>
45 |     <arg name="ur5_enabled" value="$(arg ur5_enabled)"/>
46 |     <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
47 |   </include>
48 | 
49 | </launch>
50 | 


--------------------------------------------------------------------------------
/husky_gazebo/urdf/husky.gazebo.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <!--
 3 | Software License Agreement (BSD)
 4 | 
 5 | \file      husky.gazebo.xacro
 6 | \authors   Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
 7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 8 | 
 9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
10 | the following conditions are met:
11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
12 |    following disclaimer.
13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
16 |    products derived from this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 | -->
26 | <robot name="husky_robot_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
27 | 
28 |   <xacro:include filename="$(find husky_gazebo)/urdf/accessories/kinect_camera.gazebo.xacro"/>
29 | 
30 |   <xacro:macro name="husky_robot_gazebo">
31 | 
32 |     <gazebo>
33 |       <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
34 |         <robotNamespace>/</robotNamespace>
35 |         <updateRate>50.0</updateRate>
36 |         <bodyName>base_link</bodyName>
37 |         <topicName>imu/data</topicName>
38 |         <accelDrift>0.005 0.005 0.005</accelDrift>
39 |         <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
40 |         <rateDrift>0.005 0.005 0.005 </rateDrift>
41 |         <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
42 |         <headingDrift>0.005</headingDrift>
43 |         <headingGaussianNoise>0.005</headingGaussianNoise>
44 |       </plugin>
45 |     </gazebo>
46 | 
47 |     <gazebo>
48 |       <plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
49 |         <updateRate>40</updateRate>
50 |         <robotNamespace>/</robotNamespace>
51 |         <bodyName>base_link</bodyName>
52 |         <frameId>base_link</frameId>
53 |         <topicName>navsat/fix</topicName>
54 |         <velocityTopicName>navsat/vel</velocityTopicName>
55 |         <referenceLatitude>49.9</referenceLatitude>
56 |         <referenceLongitude>8.9</referenceLongitude>
57 |         <referenceHeading>0</referenceHeading>
58 |         <referenceAltitude>0</referenceAltitude>
59 |         <drift>0.0001 0.0001 0.0001</drift>
60 |       </plugin>
61 |     </gazebo>
62 |   
63 |     <xacro:if value="$(arg ur5_enabled)">
64 |       <!--Remove when https://github.com/ros-industrial/universal_robot/pull/168 is resolved -->
65 |       <gazebo reference="ur5_arm_shoulder_link">
66 |         <selfCollide>true</selfCollide>
67 |       </gazebo>
68 |       <gazebo reference="ur5_arm_upper_arm_link">
69 |         <selfCollide>true</selfCollide>
70 |       </gazebo>
71 |       <gazebo reference="ur5_arm_forearm_link">
72 |         <selfCollide>true</selfCollide>
73 |       </gazebo>
74 |       <gazebo reference="ur5_arm_wrist_1_link">
75 |         <selfCollide>true</selfCollide>
76 |       </gazebo>
77 |       <gazebo reference="ur5_arm_wrist_3_link">
78 |        <selfCollide>true</selfCollide>
79 |       </gazebo>
80 |       <gazebo reference="ur5_arm_wrist_2_link">
81 |         <selfCollide>true</selfCollide>
82 |       </gazebo>
83 |       <gazebo reference="ur5_arm_ee_link">
84 |         <selfCollide>true</selfCollide>
85 |       </gazebo>
86 |     </xacro:if>
87 | 
88 |     <xacro:if value="$(arg kinect_enabled)">
89 |       <xacro:kinect_camera_gazebo prefix="camera"/>
90 |     </xacro:if>
91 | 
92 |   </xacro:macro>
93 | 
94 | </robot>
95 | 
96 | 


--------------------------------------------------------------------------------
/husky_gazebo/launch/spawn_husky.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <!--
 3 | Software License Agreement (BSD)
 4 | 
 5 | \file      gazebo_description.launch
 6 | \authors   Paul Bovbel <pbovbel@clearpathrobotics.com
 7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
 8 | 
 9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
10 | the following conditions are met:
11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
12 |    following disclaimer.
13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
16 |    products derived from this software without specific prior written permission.
17 | 
18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 | -->
26 | <launch>
27 | 
28 |   <arg name="laser_enabled" default="true"/>
29 |   <arg name="ur5_enabled" default="false"/>
30 |   <arg name="kinect_enabled" default="false"/>
31 |   <arg name="robot_initial_pose" default="$(optenv ROBOT_INITIAL_POSE)"/>
32 |   <arg name="husky_gazebo_description" default="$(optenv HUSKY_GAZEBO_DESCRIPTION)"/>
33 |   <arg name="ur5_control_yaml_file" default="$(find husky_control)/config/control_ur5.yaml"/>
34 | 
35 |   <param name="robot_description" command="$(find xacro)/xacro.py '$(arg husky_gazebo_description)'
36 |     laser_enabled:=$(arg laser_enabled)
37 |     ur5_enabled:=$(arg ur5_enabled)
38 |     kinect_enabled:=$(arg kinect_enabled)
39 |     " />
40 | 
41 |   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
42 | 
43 |   <!-- Load Husky control information -->
44 |   <include file="$(find husky_control)/launch/control.launch"/>
45 | 
46 |   <!-- Include ros_control configuration for ur5, only used in simulation -->
47 |   <group if="$(arg ur5_enabled)">
48 | 
49 |     <!-- Load UR5 controllers -->
50 |     <rosparam command="load" file="$(arg ur5_control_yaml_file)" />
51 |     <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" args="arm_controller --shutdown-timeout 3"/>
52 | 
53 |     <!-- Fake Calibration -->
54 |     <node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub calibrated std_msgs/Bool true" />
55 | 
56 |     <!-- Stow the arm -->
57 |     <node pkg="husky_control" type="stow_ur5" name="stow_ur5"/>
58 | 
59 |   </group>
60 | 
61 |   <group if="$(arg kinect_enabled)">
62 | 
63 |     <!-- Include poincloud_to_laserscan if simulated Kinect is attached -->
64 |     <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan" output="screen">
65 | 
66 |         <remap from="cloud_in" to="camera/depth/points"/>
67 |         <remap from="scan" to="camera/scan"/>
68 |         <rosparam>
69 |             target_frame: base_link # Leave empty to output scan in the pointcloud frame
70 |             tolerance: 1.0
71 |             min_height: 0.05
72 |             max_height: 1.0
73 | 
74 |             angle_min: -0.52 # -30.0*M_PI/180.0
75 |             angle_max: 0.52 # 30.0*M_PI/180.0
76 |             angle_increment: 0.005 # M_PI/360.0
77 |             scan_time: 0.3333
78 |             range_min: 0.45
79 |             range_max: 4.0
80 |             use_inf: true
81 | 
82 |             # Concurrency level, affects number of pointclouds queued for processing and number of threads used
83 |             # 0 : Detect number of cores
84 |             # 1 : Single threaded
85 |             # 2->inf : Parallelism level
86 |             concurrency_level: 1
87 |         </rosparam>
88 |     </node>
89 | 
90 |   </group>
91 | 
92 |   <!-- Spawn robot in gazebo -->
93 |   <node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
94 |     args="$(arg robot_initial_pose) -unpause -urdf -param robot_description -model mobile_base"/>
95 | 
96 | 
97 | </launch>
98 | 


--------------------------------------------------------------------------------
/husky_gazebo/worlds/clearpath_playpen.world:
--------------------------------------------------------------------------------
   1 | <?xml version="1.0"?>
   2 | <!--
   3 | Software License Agreement (BSD)
   4 | 
   5 | \file      clearpath_playpen.world
   6 | \authors   Prasenjit Mukherjee <code@clearpathrobotics.com
   7 | \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
   8 | 
   9 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that
  10 | the following conditions are met:
  11 |  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
  12 |    following disclaimer.
  13 |  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
  14 |    following disclaimer in the documentation and/or other materials provided with the distribution.
  15 |  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
  16 |    products derived from this software without specific prior written permission.
  17 | 
  18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
  19 | RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
  20 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
  21 | DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
  22 | OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  23 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  25 | -->
  26 | <sdf version='1.4'>
  27 |   <world name='default'>
  28 |     <light name='sun' type='directional'>
  29 |       <cast_shadows>1</cast_shadows>
  30 |       <pose>0 0 10 0 -0 0</pose>
  31 |       <diffuse>0.8 0.8 0.8 1</diffuse>
  32 |       <specular>0.2 0.2 0.2 1</specular>
  33 |       <attenuation>
  34 |         <range>1000</range>
  35 |         <constant>0.9</constant>
  36 |         <linear>0.01</linear>
  37 |         <quadratic>0.001</quadratic>
  38 |       </attenuation>
  39 |       <direction>-0.5 0.1 -0.9</direction>
  40 |     </light>
  41 |     <model name='ground_plane'>
  42 |       <static>1</static>
  43 |       <link name='link'>
  44 |         <collision name='collision'>
  45 |           <geometry>
  46 |             <plane>
  47 |               <normal>0 0 1</normal>
  48 |               <size>100 100</size>
  49 |             </plane>
  50 |           </geometry>
  51 |           <surface>
  52 |             <friction>
  53 |               <ode>
  54 |                 <mu>100</mu>
  55 |                 <mu2>50</mu2>
  56 |               </ode>
  57 |             </friction>
  58 |             <bounce/>
  59 |             <contact>
  60 |               <ode/>
  61 |             </contact>
  62 |           </surface>
  63 |           <max_contacts>10</max_contacts>
  64 |         </collision>
  65 |         <visual name='visual'>
  66 |           <cast_shadows>0</cast_shadows>
  67 |           <geometry>
  68 |             <plane>
  69 |               <normal>0 0 1</normal>
  70 |               <size>100 100</size>
  71 |             </plane>
  72 |           </geometry>
  73 |           <material>
  74 |             <script>
  75 |               <uri>file://media/materials/scripts/gazebo.material</uri>
  76 |               <name>Gazebo/Grey</name>
  77 |             </script>
  78 |           </material>
  79 |         </visual>
  80 |         <velocity_decay>
  81 |           <linear>0</linear>
  82 |           <angular>0</angular>
  83 |         </velocity_decay>
  84 |         <self_collide>0</self_collide>
  85 |         <kinematic>0</kinematic>
  86 |         <gravity>1</gravity>
  87 |       </link>
  88 |     </model>
  89 |     <physics type='ode'>
  90 |       <max_step_size>0.01</max_step_size>
  91 |       <real_time_factor>1</real_time_factor>
  92 |       <real_time_update_rate>100</real_time_update_rate>
  93 |       <gravity>0 0 -9.8</gravity>
  94 |     </physics>
  95 |     <scene>
  96 |       <ambient>0.4 0.4 0.4 1</ambient>
  97 |       <background>0.7 0.7 0.7 1</background>
  98 |       <shadows>1</shadows>
  99 |     </scene>
 100 |     <model name='jersey_barrier'>
 101 |       <static>1</static>
 102 |       <link name='link'>
 103 |         <visual name='visual'>
 104 |           <geometry>
 105 |             <mesh>
 106 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
 107 |             </mesh>
 108 |           </geometry>
 109 |         </visual>
 110 |         <collision name='upright'>
 111 |           <pose>0 0 0.5715 0 -0 0</pose>
 112 |           <geometry>
 113 |             <box>
 114 |               <size>4.06542 0.3063 1.143</size>
 115 |             </box>
 116 |           </geometry>
 117 |           <max_contacts>10</max_contacts>
 118 |           <surface>
 119 |             <bounce/>
 120 |             <friction>
 121 |               <ode/>
 122 |             </friction>
 123 |             <contact>
 124 |               <ode/>
 125 |             </contact>
 126 |           </surface>
 127 |         </collision>
 128 |         <collision name='base'>
 129 |           <pose>0 0 0.032258 0 -0 0</pose>
 130 |           <geometry>
 131 |             <box>
 132 |               <size>4.06542 0.8107 0.064516</size>
 133 |             </box>
 134 |           </geometry>
 135 |           <max_contacts>10</max_contacts>
 136 |           <surface>
 137 |             <bounce/>
 138 |             <friction>
 139 |               <ode/>
 140 |             </friction>
 141 |             <contact>
 142 |               <ode/>
 143 |             </contact>
 144 |           </surface>
 145 |         </collision>
 146 |         <collision name='base2'>
 147 |           <pose>0 0 0.1 0 -0 0</pose>
 148 |           <geometry>
 149 |             <box>
 150 |               <size>4.06542 0.65 0.1</size>
 151 |             </box>
 152 |           </geometry>
 153 |           <max_contacts>10</max_contacts>
 154 |           <surface>
 155 |             <bounce/>
 156 |             <friction>
 157 |               <ode/>
 158 |             </friction>
 159 |             <contact>
 160 |               <ode/>
 161 |             </contact>
 162 |           </surface>
 163 |         </collision>
 164 |         <collision name='base3'>
 165 |           <pose>0 0 0.2 0 -0 0</pose>
 166 |           <geometry>
 167 |             <box>
 168 |               <size>4.06542 0.5 0.1</size>
 169 |             </box>
 170 |           </geometry>
 171 |           <max_contacts>10</max_contacts>
 172 |           <surface>
 173 |             <bounce/>
 174 |             <friction>
 175 |               <ode/>
 176 |             </friction>
 177 |             <contact>
 178 |               <ode/>
 179 |             </contact>
 180 |           </surface>
 181 |         </collision>
 182 |         <collision name='left-angle'>
 183 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
 184 |           <geometry>
 185 |             <box>
 186 |               <size>4.06542 0.5 0.064516</size>
 187 |             </box>
 188 |           </geometry>
 189 |           <max_contacts>10</max_contacts>
 190 |           <surface>
 191 |             <bounce/>
 192 |             <friction>
 193 |               <ode/>
 194 |             </friction>
 195 |             <contact>
 196 |               <ode/>
 197 |             </contact>
 198 |           </surface>
 199 |         </collision>
 200 |         <collision name='right-angle'>
 201 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
 202 |           <geometry>
 203 |             <box>
 204 |               <size>4.06542 0.5 0.064516</size>
 205 |             </box>
 206 |           </geometry>
 207 |           <max_contacts>10</max_contacts>
 208 |           <surface>
 209 |             <bounce/>
 210 |             <friction>
 211 |               <ode/>
 212 |             </friction>
 213 |             <contact>
 214 |               <ode/>
 215 |             </contact>
 216 |           </surface>
 217 |         </collision>
 218 |         <velocity_decay>
 219 |           <linear>0</linear>
 220 |           <angular>0</angular>
 221 |         </velocity_decay>
 222 |         <self_collide>0</self_collide>
 223 |         <kinematic>0</kinematic>
 224 |         <gravity>1</gravity>
 225 |       </link>
 226 |       <pose>-8 -10 0 0 -0 0</pose>
 227 |     </model>
 228 |     <model name='jersey_barrier_0'>
 229 |       <static>1</static>
 230 |       <link name='link'>
 231 |         <visual name='visual'>
 232 |           <geometry>
 233 |             <mesh>
 234 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
 235 |             </mesh>
 236 |           </geometry>
 237 |         </visual>
 238 |         <collision name='upright'>
 239 |           <pose>0 0 0.5715 0 -0 0</pose>
 240 |           <geometry>
 241 |             <box>
 242 |               <size>4.06542 0.3063 1.143</size>
 243 |             </box>
 244 |           </geometry>
 245 |           <max_contacts>10</max_contacts>
 246 |           <surface>
 247 |             <bounce/>
 248 |             <friction>
 249 |               <ode/>
 250 |             </friction>
 251 |             <contact>
 252 |               <ode/>
 253 |             </contact>
 254 |           </surface>
 255 |         </collision>
 256 |         <collision name='base'>
 257 |           <pose>0 0 0.032258 0 -0 0</pose>
 258 |           <geometry>
 259 |             <box>
 260 |               <size>4.06542 0.8107 0.064516</size>
 261 |             </box>
 262 |           </geometry>
 263 |           <max_contacts>10</max_contacts>
 264 |           <surface>
 265 |             <bounce/>
 266 |             <friction>
 267 |               <ode/>
 268 |             </friction>
 269 |             <contact>
 270 |               <ode/>
 271 |             </contact>
 272 |           </surface>
 273 |         </collision>
 274 |         <collision name='base2'>
 275 |           <pose>0 0 0.1 0 -0 0</pose>
 276 |           <geometry>
 277 |             <box>
 278 |               <size>4.06542 0.65 0.1</size>
 279 |             </box>
 280 |           </geometry>
 281 |           <max_contacts>10</max_contacts>
 282 |           <surface>
 283 |             <bounce/>
 284 |             <friction>
 285 |               <ode/>
 286 |             </friction>
 287 |             <contact>
 288 |               <ode/>
 289 |             </contact>
 290 |           </surface>
 291 |         </collision>
 292 |         <collision name='base3'>
 293 |           <pose>0 0 0.2 0 -0 0</pose>
 294 |           <geometry>
 295 |             <box>
 296 |               <size>4.06542 0.5 0.1</size>
 297 |             </box>
 298 |           </geometry>
 299 |           <max_contacts>10</max_contacts>
 300 |           <surface>
 301 |             <bounce/>
 302 |             <friction>
 303 |               <ode/>
 304 |             </friction>
 305 |             <contact>
 306 |               <ode/>
 307 |             </contact>
 308 |           </surface>
 309 |         </collision>
 310 |         <collision name='left-angle'>
 311 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
 312 |           <geometry>
 313 |             <box>
 314 |               <size>4.06542 0.5 0.064516</size>
 315 |             </box>
 316 |           </geometry>
 317 |           <max_contacts>10</max_contacts>
 318 |           <surface>
 319 |             <bounce/>
 320 |             <friction>
 321 |               <ode/>
 322 |             </friction>
 323 |             <contact>
 324 |               <ode/>
 325 |             </contact>
 326 |           </surface>
 327 |         </collision>
 328 |         <collision name='right-angle'>
 329 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
 330 |           <geometry>
 331 |             <box>
 332 |               <size>4.06542 0.5 0.064516</size>
 333 |             </box>
 334 |           </geometry>
 335 |           <max_contacts>10</max_contacts>
 336 |           <surface>
 337 |             <bounce/>
 338 |             <friction>
 339 |               <ode/>
 340 |             </friction>
 341 |             <contact>
 342 |               <ode/>
 343 |             </contact>
 344 |           </surface>
 345 |         </collision>
 346 |         <velocity_decay>
 347 |           <linear>0</linear>
 348 |           <angular>0</angular>
 349 |         </velocity_decay>
 350 |         <self_collide>0</self_collide>
 351 |         <kinematic>0</kinematic>
 352 |         <gravity>1</gravity>
 353 |       </link>
 354 |       <pose>-3 -10 0 0 -0 0</pose>
 355 |     </model>
 356 |     <model name='jersey_barrier_1'>
 357 |       <static>1</static>
 358 |       <link name='link'>
 359 |         <visual name='visual'>
 360 |           <geometry>
 361 |             <mesh>
 362 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
 363 |             </mesh>
 364 |           </geometry>
 365 |         </visual>
 366 |         <collision name='upright'>
 367 |           <pose>0 0 0.5715 0 -0 0</pose>
 368 |           <geometry>
 369 |             <box>
 370 |               <size>4.06542 0.3063 1.143</size>
 371 |             </box>
 372 |           </geometry>
 373 |           <max_contacts>10</max_contacts>
 374 |           <surface>
 375 |             <bounce/>
 376 |             <friction>
 377 |               <ode/>
 378 |             </friction>
 379 |             <contact>
 380 |               <ode/>
 381 |             </contact>
 382 |           </surface>
 383 |         </collision>
 384 |         <collision name='base'>
 385 |           <pose>0 0 0.032258 0 -0 0</pose>
 386 |           <geometry>
 387 |             <box>
 388 |               <size>4.06542 0.8107 0.064516</size>
 389 |             </box>
 390 |           </geometry>
 391 |           <max_contacts>10</max_contacts>
 392 |           <surface>
 393 |             <bounce/>
 394 |             <friction>
 395 |               <ode/>
 396 |             </friction>
 397 |             <contact>
 398 |               <ode/>
 399 |             </contact>
 400 |           </surface>
 401 |         </collision>
 402 |         <collision name='base2'>
 403 |           <pose>0 0 0.1 0 -0 0</pose>
 404 |           <geometry>
 405 |             <box>
 406 |               <size>4.06542 0.65 0.1</size>
 407 |             </box>
 408 |           </geometry>
 409 |           <max_contacts>10</max_contacts>
 410 |           <surface>
 411 |             <bounce/>
 412 |             <friction>
 413 |               <ode/>
 414 |             </friction>
 415 |             <contact>
 416 |               <ode/>
 417 |             </contact>
 418 |           </surface>
 419 |         </collision>
 420 |         <collision name='base3'>
 421 |           <pose>0 0 0.2 0 -0 0</pose>
 422 |           <geometry>
 423 |             <box>
 424 |               <size>4.06542 0.5 0.1</size>
 425 |             </box>
 426 |           </geometry>
 427 |           <max_contacts>10</max_contacts>
 428 |           <surface>
 429 |             <bounce/>
 430 |             <friction>
 431 |               <ode/>
 432 |             </friction>
 433 |             <contact>
 434 |               <ode/>
 435 |             </contact>
 436 |           </surface>
 437 |         </collision>
 438 |         <collision name='left-angle'>
 439 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
 440 |           <geometry>
 441 |             <box>
 442 |               <size>4.06542 0.5 0.064516</size>
 443 |             </box>
 444 |           </geometry>
 445 |           <max_contacts>10</max_contacts>
 446 |           <surface>
 447 |             <bounce/>
 448 |             <friction>
 449 |               <ode/>
 450 |             </friction>
 451 |             <contact>
 452 |               <ode/>
 453 |             </contact>
 454 |           </surface>
 455 |         </collision>
 456 |         <collision name='right-angle'>
 457 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
 458 |           <geometry>
 459 |             <box>
 460 |               <size>4.06542 0.5 0.064516</size>
 461 |             </box>
 462 |           </geometry>
 463 |           <max_contacts>10</max_contacts>
 464 |           <surface>
 465 |             <bounce/>
 466 |             <friction>
 467 |               <ode/>
 468 |             </friction>
 469 |             <contact>
 470 |               <ode/>
 471 |             </contact>
 472 |           </surface>
 473 |         </collision>
 474 |         <velocity_decay>
 475 |           <linear>0</linear>
 476 |           <angular>0</angular>
 477 |         </velocity_decay>
 478 |         <self_collide>0</self_collide>
 479 |         <kinematic>0</kinematic>
 480 |         <gravity>1</gravity>
 481 |       </link>
 482 |       <pose>2 -10 0 0 -0 0</pose>
 483 |     </model>
 484 |     <model name='jersey_barrier_2'>
 485 |       <static>1</static>
 486 |       <link name='link'>
 487 |         <visual name='visual'>
 488 |           <geometry>
 489 |             <mesh>
 490 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
 491 |             </mesh>
 492 |           </geometry>
 493 |         </visual>
 494 |         <collision name='upright'>
 495 |           <pose>0 0 0.5715 0 -0 0</pose>
 496 |           <geometry>
 497 |             <box>
 498 |               <size>4.06542 0.3063 1.143</size>
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 608 |         <gravity>1</gravity>
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 623 |           <pose>0 0 0.5715 0 -0 0</pose>
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 735 |         <kinematic>0</kinematic>
 736 |         <gravity>1</gravity>
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 738 |       <pose>-7.50675 10 0 0 -0 0</pose>
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 742 |       <link name='link'>
 743 |         <visual name='visual'>
 744 |           <geometry>
 745 |             <mesh>
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 747 |             </mesh>
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 751 |           <pose>0 0 0.5715 0 -0 0</pose>
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 804 |         <collision name='base3'>
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 817 |             <contact>
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 822 |         <collision name='left-angle'>
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 830 |           <surface>
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 835 |             <contact>
 836 |               <ode/>
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 840 |         <collision name='right-angle'>
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 848 |           <surface>
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 853 |             <contact>
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 858 |         <velocity_decay>
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 860 |           <angular>0</angular>
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 862 |         <self_collide>0</self_collide>
 863 |         <kinematic>0</kinematic>
 864 |         <gravity>1</gravity>
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 866 |       <pose>-2 10 0 0 -0 0</pose>
 867 |     </model>
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 870 |       <link name='link'>
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 877 |         </visual>
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 879 |           <pose>0 0 0.5715 0 -0 0</pose>
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 922 |           <surface>
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 950 |         <collision name='left-angle'>
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 976 |           <surface>
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 990 |         <self_collide>0</self_collide>
 991 |         <kinematic>0</kinematic>
 992 |         <gravity>1</gravity>
 993 |       </link>
 994 |       <pose>3 10 0 0 -0 0</pose>
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 998 |       <link name='link'>
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1000 |           <geometry>
1001 |             <mesh>
1002 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
1003 |             </mesh>
1004 |           </geometry>
1005 |         </visual>
1006 |         <collision name='upright'>
1007 |           <pose>0 0 0.5715 0 -0 0</pose>
1008 |           <geometry>
1009 |             <box>
1010 |               <size>4.06542 0.3063 1.143</size>
1011 |             </box>
1012 |           </geometry>
1013 |           <max_contacts>10</max_contacts>
1014 |           <surface>
1015 |             <bounce/>
1016 |             <friction>
1017 |               <ode/>
1018 |             </friction>
1019 |             <contact>
1020 |               <ode/>
1021 |             </contact>
1022 |           </surface>
1023 |         </collision>
1024 |         <collision name='base'>
1025 |           <pose>0 0 0.032258 0 -0 0</pose>
1026 |           <geometry>
1027 |             <box>
1028 |               <size>4.06542 0.8107 0.064516</size>
1029 |             </box>
1030 |           </geometry>
1031 |           <max_contacts>10</max_contacts>
1032 |           <surface>
1033 |             <bounce/>
1034 |             <friction>
1035 |               <ode/>
1036 |             </friction>
1037 |             <contact>
1038 |               <ode/>
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1040 |           </surface>
1041 |         </collision>
1042 |         <collision name='base2'>
1043 |           <pose>0 0 0.1 0 -0 0</pose>
1044 |           <geometry>
1045 |             <box>
1046 |               <size>4.06542 0.65 0.1</size>
1047 |             </box>
1048 |           </geometry>
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1050 |           <surface>
1051 |             <bounce/>
1052 |             <friction>
1053 |               <ode/>
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1055 |             <contact>
1056 |               <ode/>
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1058 |           </surface>
1059 |         </collision>
1060 |         <collision name='base3'>
1061 |           <pose>0 0 0.2 0 -0 0</pose>
1062 |           <geometry>
1063 |             <box>
1064 |               <size>4.06542 0.5 0.1</size>
1065 |             </box>
1066 |           </geometry>
1067 |           <max_contacts>10</max_contacts>
1068 |           <surface>
1069 |             <bounce/>
1070 |             <friction>
1071 |               <ode/>
1072 |             </friction>
1073 |             <contact>
1074 |               <ode/>
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1076 |           </surface>
1077 |         </collision>
1078 |         <collision name='left-angle'>
1079 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
1080 |           <geometry>
1081 |             <box>
1082 |               <size>4.06542 0.5 0.064516</size>
1083 |             </box>
1084 |           </geometry>
1085 |           <max_contacts>10</max_contacts>
1086 |           <surface>
1087 |             <bounce/>
1088 |             <friction>
1089 |               <ode/>
1090 |             </friction>
1091 |             <contact>
1092 |               <ode/>
1093 |             </contact>
1094 |           </surface>
1095 |         </collision>
1096 |         <collision name='right-angle'>
1097 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
1098 |           <geometry>
1099 |             <box>
1100 |               <size>4.06542 0.5 0.064516</size>
1101 |             </box>
1102 |           </geometry>
1103 |           <max_contacts>10</max_contacts>
1104 |           <surface>
1105 |             <bounce/>
1106 |             <friction>
1107 |               <ode/>
1108 |             </friction>
1109 |             <contact>
1110 |               <ode/>
1111 |             </contact>
1112 |           </surface>
1113 |         </collision>
1114 |         <velocity_decay>
1115 |           <linear>0</linear>
1116 |           <angular>0</angular>
1117 |         </velocity_decay>
1118 |         <self_collide>0</self_collide>
1119 |         <kinematic>0</kinematic>
1120 |         <gravity>1</gravity>
1121 |       </link>
1122 |       <pose>8 10 0 0 -0 0</pose>
1123 |     </model>
1124 |     <model name='jersey_barrier_7'>
1125 |       <static>1</static>
1126 |       <link name='link'>
1127 |         <visual name='visual'>
1128 |           <geometry>
1129 |             <mesh>
1130 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
1131 |             </mesh>
1132 |           </geometry>
1133 |         </visual>
1134 |         <collision name='upright'>
1135 |           <pose>0 0 0.5715 0 -0 0</pose>
1136 |           <geometry>
1137 |             <box>
1138 |               <size>4.06542 0.3063 1.143</size>
1139 |             </box>
1140 |           </geometry>
1141 |           <max_contacts>10</max_contacts>
1142 |           <surface>
1143 |             <bounce/>
1144 |             <friction>
1145 |               <ode/>
1146 |             </friction>
1147 |             <contact>
1148 |               <ode/>
1149 |             </contact>
1150 |           </surface>
1151 |         </collision>
1152 |         <collision name='base'>
1153 |           <pose>0 0 0.032258 0 -0 0</pose>
1154 |           <geometry>
1155 |             <box>
1156 |               <size>4.06542 0.8107 0.064516</size>
1157 |             </box>
1158 |           </geometry>
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1160 |           <surface>
1161 |             <bounce/>
1162 |             <friction>
1163 |               <ode/>
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1165 |             <contact>
1166 |               <ode/>
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1168 |           </surface>
1169 |         </collision>
1170 |         <collision name='base2'>
1171 |           <pose>0 0 0.1 0 -0 0</pose>
1172 |           <geometry>
1173 |             <box>
1174 |               <size>4.06542 0.65 0.1</size>
1175 |             </box>
1176 |           </geometry>
1177 |           <max_contacts>10</max_contacts>
1178 |           <surface>
1179 |             <bounce/>
1180 |             <friction>
1181 |               <ode/>
1182 |             </friction>
1183 |             <contact>
1184 |               <ode/>
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1186 |           </surface>
1187 |         </collision>
1188 |         <collision name='base3'>
1189 |           <pose>0 0 0.2 0 -0 0</pose>
1190 |           <geometry>
1191 |             <box>
1192 |               <size>4.06542 0.5 0.1</size>
1193 |             </box>
1194 |           </geometry>
1195 |           <max_contacts>10</max_contacts>
1196 |           <surface>
1197 |             <bounce/>
1198 |             <friction>
1199 |               <ode/>
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1247 |         <kinematic>0</kinematic>
1248 |         <gravity>1</gravity>
1249 |       </link>
1250 |       <pose>9 -4 0 0 -0 0</pose>
1251 |     </model>
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1254 |       <link name='link'>
1255 |         <visual name='visual'>
1256 |           <geometry>
1257 |             <mesh>
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1375 |         <kinematic>0</kinematic>
1376 |         <gravity>1</gravity>
1377 |       </link>
1378 |       <pose>9 3 0 0 -0 0</pose>
1379 |     </model>
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1382 |       <link name='link'>
1383 |         <visual name='visual'>
1384 |           <geometry>
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1389 |         </visual>
1390 |         <collision name='upright'>
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1403 |             <contact>
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1480 |         <collision name='right-angle'>
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1500 |           <angular>0</angular>
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1502 |         <self_collide>0</self_collide>
1503 |         <kinematic>0</kinematic>
1504 |         <gravity>1</gravity>
1505 |       </link>
1506 |       <pose>-9 -6.56962 0 0 -0 0</pose>
1507 |     </model>
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1509 |       <static>1</static>
1510 |       <link name='link'>
1511 |         <visual name='visual'>
1512 |           <geometry>
1513 |             <mesh>
1514 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
1515 |             </mesh>
1516 |           </geometry>
1517 |         </visual>
1518 |         <collision name='upright'>
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1520 |           <geometry>
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1524 |           </geometry>
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1529 |               <ode/>
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1531 |             <contact>
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1536 |         <collision name='base'>
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1582 |             <friction>
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1590 |         <collision name='left-angle'>
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1596 |           </geometry>
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1600 |             <friction>
1601 |               <ode/>
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1603 |             <contact>
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1608 |         <collision name='right-angle'>
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1610 |           <geometry>
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1616 |           <surface>
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1618 |             <friction>
1619 |               <ode/>
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1621 |             <contact>
1622 |               <ode/>
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1626 |         <velocity_decay>
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1628 |           <angular>0</angular>
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1630 |         <self_collide>0</self_collide>
1631 |         <kinematic>0</kinematic>
1632 |         <gravity>1</gravity>
1633 |       </link>
1634 |       <pose>-10 -2 0 0 -0 0</pose>
1635 |     </model>
1636 |     <model name='jersey_barrier_11'>
1637 |       <static>1</static>
1638 |       <link name='link'>
1639 |         <visual name='visual'>
1640 |           <geometry>
1641 |             <mesh>
1642 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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1645 |         </visual>
1646 |         <collision name='upright'>
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1657 |               <ode/>
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1713 |             <contact>
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1718 |         <collision name='left-angle'>
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1720 |           <geometry>
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1722 |               <size>4.06542 0.5 0.064516</size>
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1724 |           </geometry>
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1728 |             <friction>
1729 |               <ode/>
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1731 |             <contact>
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1736 |         <collision name='right-angle'>
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1744 |           <surface>
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1746 |             <friction>
1747 |               <ode/>
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1749 |             <contact>
1750 |               <ode/>
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1754 |         <velocity_decay>
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1756 |           <angular>0</angular>
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1758 |         <self_collide>0</self_collide>
1759 |         <kinematic>0</kinematic>
1760 |         <gravity>1</gravity>
1761 |       </link>
1762 |       <pose>-9.55113 3 0 0 -0 0</pose>
1763 |     </model>
1764 |     <model name='jersey_barrier_12'>
1765 |       <static>1</static>
1766 |       <link name='link'>
1767 |         <visual name='visual'>
1768 |           <geometry>
1769 |             <mesh>
1770 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
1771 |             </mesh>
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1773 |         </visual>
1774 |         <collision name='upright'>
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1776 |           <geometry>
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1787 |             <contact>
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1802 |             <friction>
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1805 |             <contact>
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1810 |         <collision name='base2'>
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1823 |             <contact>
1824 |               <ode/>
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1828 |         <collision name='base3'>
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1831 |             <box>
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1836 |           <surface>
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1838 |             <friction>
1839 |               <ode/>
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1841 |             <contact>
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1846 |         <collision name='left-angle'>
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1848 |           <geometry>
1849 |             <box>
1850 |               <size>4.06542 0.5 0.064516</size>
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1856 |             <friction>
1857 |               <ode/>
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1859 |             <contact>
1860 |               <ode/>
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1864 |         <collision name='right-angle'>
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1866 |           <geometry>
1867 |             <box>
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1870 |           </geometry>
1871 |           <max_contacts>10</max_contacts>
1872 |           <surface>
1873 |             <bounce/>
1874 |             <friction>
1875 |               <ode/>
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1877 |             <contact>
1878 |               <ode/>
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1884 |           <angular>0</angular>
1885 |         </velocity_decay>
1886 |         <self_collide>0</self_collide>
1887 |         <kinematic>0</kinematic>
1888 |         <gravity>1</gravity>
1889 |       </link>
1890 |       <pose>9 -8 0 0 -0 0</pose>
1891 |     </model>
1892 |     <model name='jersey_barrier_13'>
1893 |       <static>1</static>
1894 |       <link name='link'>
1895 |         <visual name='visual'>
1896 |           <geometry>
1897 |             <mesh>
1898 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
1899 |             </mesh>
1900 |           </geometry>
1901 |         </visual>
1902 |         <collision name='upright'>
1903 |           <pose>0 0 0.5715 0 -0 0</pose>
1904 |           <geometry>
1905 |             <box>
1906 |               <size>4.06542 0.3063 1.143</size>
1907 |             </box>
1908 |           </geometry>
1909 |           <max_contacts>10</max_contacts>
1910 |           <surface>
1911 |             <bounce/>
1912 |             <friction>
1913 |               <ode/>
1914 |             </friction>
1915 |             <contact>
1916 |               <ode/>
1917 |             </contact>
1918 |           </surface>
1919 |         </collision>
1920 |         <collision name='base'>
1921 |           <pose>0 0 0.032258 0 -0 0</pose>
1922 |           <geometry>
1923 |             <box>
1924 |               <size>4.06542 0.8107 0.064516</size>
1925 |             </box>
1926 |           </geometry>
1927 |           <max_contacts>10</max_contacts>
1928 |           <surface>
1929 |             <bounce/>
1930 |             <friction>
1931 |               <ode/>
1932 |             </friction>
1933 |             <contact>
1934 |               <ode/>
1935 |             </contact>
1936 |           </surface>
1937 |         </collision>
1938 |         <collision name='base2'>
1939 |           <pose>0 0 0.1 0 -0 0</pose>
1940 |           <geometry>
1941 |             <box>
1942 |               <size>4.06542 0.65 0.1</size>
1943 |             </box>
1944 |           </geometry>
1945 |           <max_contacts>10</max_contacts>
1946 |           <surface>
1947 |             <bounce/>
1948 |             <friction>
1949 |               <ode/>
1950 |             </friction>
1951 |             <contact>
1952 |               <ode/>
1953 |             </contact>
1954 |           </surface>
1955 |         </collision>
1956 |         <collision name='base3'>
1957 |           <pose>0 0 0.2 0 -0 0</pose>
1958 |           <geometry>
1959 |             <box>
1960 |               <size>4.06542 0.5 0.1</size>
1961 |             </box>
1962 |           </geometry>
1963 |           <max_contacts>10</max_contacts>
1964 |           <surface>
1965 |             <bounce/>
1966 |             <friction>
1967 |               <ode/>
1968 |             </friction>
1969 |             <contact>
1970 |               <ode/>
1971 |             </contact>
1972 |           </surface>
1973 |         </collision>
1974 |         <collision name='left-angle'>
1975 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
1976 |           <geometry>
1977 |             <box>
1978 |               <size>4.06542 0.5 0.064516</size>
1979 |             </box>
1980 |           </geometry>
1981 |           <max_contacts>10</max_contacts>
1982 |           <surface>
1983 |             <bounce/>
1984 |             <friction>
1985 |               <ode/>
1986 |             </friction>
1987 |             <contact>
1988 |               <ode/>
1989 |             </contact>
1990 |           </surface>
1991 |         </collision>
1992 |         <collision name='right-angle'>
1993 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
1994 |           <geometry>
1995 |             <box>
1996 |               <size>4.06542 0.5 0.064516</size>
1997 |             </box>
1998 |           </geometry>
1999 |           <max_contacts>10</max_contacts>
2000 |           <surface>
2001 |             <bounce/>
2002 |             <friction>
2003 |               <ode/>
2004 |             </friction>
2005 |             <contact>
2006 |               <ode/>
2007 |             </contact>
2008 |           </surface>
2009 |         </collision>
2010 |         <velocity_decay>
2011 |           <linear>0</linear>
2012 |           <angular>0</angular>
2013 |         </velocity_decay>
2014 |         <self_collide>0</self_collide>
2015 |         <kinematic>0</kinematic>
2016 |         <gravity>1</gravity>
2017 |       </link>
2018 |       <pose>10 7 0 0 -0 0</pose>
2019 |     </model>
2020 |     <model name='jersey_barrier_14'>
2021 |       <static>1</static>
2022 |       <link name='link'>
2023 |         <visual name='visual'>
2024 |           <geometry>
2025 |             <mesh>
2026 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
2027 |             </mesh>
2028 |           </geometry>
2029 |         </visual>
2030 |         <collision name='upright'>
2031 |           <pose>0 0 0.5715 0 -0 0</pose>
2032 |           <geometry>
2033 |             <box>
2034 |               <size>4.06542 0.3063 1.143</size>
2035 |             </box>
2036 |           </geometry>
2037 |           <max_contacts>10</max_contacts>
2038 |           <surface>
2039 |             <bounce/>
2040 |             <friction>
2041 |               <ode/>
2042 |             </friction>
2043 |             <contact>
2044 |               <ode/>
2045 |             </contact>
2046 |           </surface>
2047 |         </collision>
2048 |         <collision name='base'>
2049 |           <pose>0 0 0.032258 0 -0 0</pose>
2050 |           <geometry>
2051 |             <box>
2052 |               <size>4.06542 0.8107 0.064516</size>
2053 |             </box>
2054 |           </geometry>
2055 |           <max_contacts>10</max_contacts>
2056 |           <surface>
2057 |             <bounce/>
2058 |             <friction>
2059 |               <ode/>
2060 |             </friction>
2061 |             <contact>
2062 |               <ode/>
2063 |             </contact>
2064 |           </surface>
2065 |         </collision>
2066 |         <collision name='base2'>
2067 |           <pose>0 0 0.1 0 -0 0</pose>
2068 |           <geometry>
2069 |             <box>
2070 |               <size>4.06542 0.65 0.1</size>
2071 |             </box>
2072 |           </geometry>
2073 |           <max_contacts>10</max_contacts>
2074 |           <surface>
2075 |             <bounce/>
2076 |             <friction>
2077 |               <ode/>
2078 |             </friction>
2079 |             <contact>
2080 |               <ode/>
2081 |             </contact>
2082 |           </surface>
2083 |         </collision>
2084 |         <collision name='base3'>
2085 |           <pose>0 0 0.2 0 -0 0</pose>
2086 |           <geometry>
2087 |             <box>
2088 |               <size>4.06542 0.5 0.1</size>
2089 |             </box>
2090 |           </geometry>
2091 |           <max_contacts>10</max_contacts>
2092 |           <surface>
2093 |             <bounce/>
2094 |             <friction>
2095 |               <ode/>
2096 |             </friction>
2097 |             <contact>
2098 |               <ode/>
2099 |             </contact>
2100 |           </surface>
2101 |         </collision>
2102 |         <collision name='left-angle'>
2103 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
2104 |           <geometry>
2105 |             <box>
2106 |               <size>4.06542 0.5 0.064516</size>
2107 |             </box>
2108 |           </geometry>
2109 |           <max_contacts>10</max_contacts>
2110 |           <surface>
2111 |             <bounce/>
2112 |             <friction>
2113 |               <ode/>
2114 |             </friction>
2115 |             <contact>
2116 |               <ode/>
2117 |             </contact>
2118 |           </surface>
2119 |         </collision>
2120 |         <collision name='right-angle'>
2121 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
2122 |           <geometry>
2123 |             <box>
2124 |               <size>4.06542 0.5 0.064516</size>
2125 |             </box>
2126 |           </geometry>
2127 |           <max_contacts>10</max_contacts>
2128 |           <surface>
2129 |             <bounce/>
2130 |             <friction>
2131 |               <ode/>
2132 |             </friction>
2133 |             <contact>
2134 |               <ode/>
2135 |             </contact>
2136 |           </surface>
2137 |         </collision>
2138 |         <velocity_decay>
2139 |           <linear>0</linear>
2140 |           <angular>0</angular>
2141 |         </velocity_decay>
2142 |         <self_collide>0</self_collide>
2143 |         <kinematic>0</kinematic>
2144 |         <gravity>1</gravity>
2145 |       </link>
2146 |       <pose>-9 7.4858 0 0 -0 0</pose>
2147 |     </model>
2148 |     <model name='fire_hydrant'>
2149 |       <static>1</static>
2150 |       <link name='link'>
2151 |         <collision name='collision'>
2152 |           <geometry>
2153 |             <mesh>
2154 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2155 |             </mesh>
2156 |           </geometry>
2157 |           <max_contacts>10</max_contacts>
2158 |           <surface>
2159 |             <bounce/>
2160 |             <friction>
2161 |               <ode/>
2162 |             </friction>
2163 |             <contact>
2164 |               <ode/>
2165 |             </contact>
2166 |           </surface>
2167 |         </collision>
2168 |         <visual name='visual'>
2169 |           <geometry>
2170 |             <mesh>
2171 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2172 |             </mesh>
2173 |           </geometry>
2174 |         </visual>
2175 |         <velocity_decay>
2176 |           <linear>0</linear>
2177 |           <angular>0</angular>
2178 |         </velocity_decay>
2179 |         <self_collide>0</self_collide>
2180 |         <kinematic>0</kinematic>
2181 |         <gravity>1</gravity>
2182 |       </link>
2183 |       <pose>6 -6 0 0 -0 0</pose>
2184 |     </model>
2185 |     <model name='fire_hydrant_0'>
2186 |       <static>1</static>
2187 |       <link name='link'>
2188 |         <collision name='collision'>
2189 |           <geometry>
2190 |             <mesh>
2191 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2192 |             </mesh>
2193 |           </geometry>
2194 |           <max_contacts>10</max_contacts>
2195 |           <surface>
2196 |             <bounce/>
2197 |             <friction>
2198 |               <ode/>
2199 |             </friction>
2200 |             <contact>
2201 |               <ode/>
2202 |             </contact>
2203 |           </surface>
2204 |         </collision>
2205 |         <visual name='visual'>
2206 |           <geometry>
2207 |             <mesh>
2208 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2209 |             </mesh>
2210 |           </geometry>
2211 |         </visual>
2212 |         <velocity_decay>
2213 |           <linear>0</linear>
2214 |           <angular>0</angular>
2215 |         </velocity_decay>
2216 |         <self_collide>0</self_collide>
2217 |         <kinematic>0</kinematic>
2218 |         <gravity>1</gravity>
2219 |       </link>
2220 |       <pose>-3 4 0 0 -0 0</pose>
2221 |     </model>
2222 |     <model name='fire_hydrant_1'>
2223 |       <static>1</static>
2224 |       <link name='link'>
2225 |         <collision name='collision'>
2226 |           <geometry>
2227 |             <mesh>
2228 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2229 |             </mesh>
2230 |           </geometry>
2231 |           <max_contacts>10</max_contacts>
2232 |           <surface>
2233 |             <bounce/>
2234 |             <friction>
2235 |               <ode/>
2236 |             </friction>
2237 |             <contact>
2238 |               <ode/>
2239 |             </contact>
2240 |           </surface>
2241 |         </collision>
2242 |         <visual name='visual'>
2243 |           <geometry>
2244 |             <mesh>
2245 |               <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
2246 |             </mesh>
2247 |           </geometry>
2248 |         </visual>
2249 |         <velocity_decay>
2250 |           <linear>0</linear>
2251 |           <angular>0</angular>
2252 |         </velocity_decay>
2253 |         <self_collide>0</self_collide>
2254 |         <kinematic>0</kinematic>
2255 |         <gravity>1</gravity>
2256 |       </link>
2257 |       <pose>-3 -5 0 0 -0 0</pose>
2258 |     </model>
2259 |     <model name='Dumpster'>
2260 |       <link name='link'>
2261 |         <collision name='collision'>
2262 |           <geometry>
2263 |             <mesh>
2264 |               <uri>model://dumpster/meshes/dumpster.dae</uri>
2265 |             </mesh>
2266 |           </geometry>
2267 |           <max_contacts>10</max_contacts>
2268 |           <surface>
2269 |             <bounce/>
2270 |             <friction>
2271 |               <ode/>
2272 |             </friction>
2273 |             <contact>
2274 |               <ode/>
2275 |             </contact>
2276 |           </surface>
2277 |         </collision>
2278 |         <visual name='visual'>
2279 |           <geometry>
2280 |             <mesh>
2281 |               <uri>model://dumpster/meshes/dumpster.dae</uri>
2282 |             </mesh>
2283 |           </geometry>
2284 |           <material>
2285 |             <script>
2286 |               <uri>model://dumpster/materials/scripts</uri>
2287 |               <uri>model://dumpster/materials/textures</uri>
2288 |               <name>Dumpster/Diffuse</name>
2289 |             </script>
2290 |           </material>
2291 |         </visual>
2292 |         <velocity_decay>
2293 |           <linear>0</linear>
2294 |           <angular>0</angular>
2295 |         </velocity_decay>
2296 |         <self_collide>0</self_collide>
2297 |         <inertial>
2298 |           <inertia>
2299 |             <ixx>1</ixx>
2300 |             <ixy>0</ixy>
2301 |             <ixz>0</ixz>
2302 |             <iyy>1</iyy>
2303 |             <iyz>0</iyz>
2304 |             <izz>1</izz>
2305 |           </inertia>
2306 |           <mass>1</mass>
2307 |         </inertial>
2308 |         <kinematic>0</kinematic>
2309 |         <gravity>1</gravity>
2310 |       </link>
2311 |       <pose>4 5 0 0 -0 0</pose>
2312 |       <static>0</static>
2313 |     </model>
2314 |     <model name='Dumpster_0'>
2315 |       <link name='link'>
2316 |         <collision name='collision'>
2317 |           <geometry>
2318 |             <mesh>
2319 |               <uri>model://dumpster/meshes/dumpster.dae</uri>
2320 |             </mesh>
2321 |           </geometry>
2322 |           <max_contacts>10</max_contacts>
2323 |           <surface>
2324 |             <bounce/>
2325 |             <friction>
2326 |               <ode/>
2327 |             </friction>
2328 |             <contact>
2329 |               <ode/>
2330 |             </contact>
2331 |           </surface>
2332 |         </collision>
2333 |         <visual name='visual'>
2334 |           <geometry>
2335 |             <mesh>
2336 |               <uri>model://dumpster/meshes/dumpster.dae</uri>
2337 |             </mesh>
2338 |           </geometry>
2339 |           <material>
2340 |             <script>
2341 |               <uri>model://dumpster/materials/scripts</uri>
2342 |               <uri>model://dumpster/materials/textures</uri>
2343 |               <name>Dumpster/Diffuse</name>
2344 |             </script>
2345 |           </material>
2346 |         </visual>
2347 |         <velocity_decay>
2348 |           <linear>0</linear>
2349 |           <angular>0</angular>
2350 |         </velocity_decay>
2351 |         <self_collide>0</self_collide>
2352 |         <inertial>
2353 |           <inertia>
2354 |             <ixx>1</ixx>
2355 |             <ixy>0</ixy>
2356 |             <ixz>0</ixz>
2357 |             <iyy>1</iyy>
2358 |             <iyz>0</iyz>
2359 |             <izz>1</izz>
2360 |           </inertia>
2361 |           <mass>1</mass>
2362 |         </inertial>
2363 |         <kinematic>0</kinematic>
2364 |         <gravity>1</gravity>
2365 |       </link>
2366 |       <pose>-4 -1 0 0 -0 0</pose>
2367 |       <static>0</static>
2368 |     </model>
2369 |     <model name='jersey_barrier_15'>
2370 |       <static>1</static>
2371 |       <link name='link'>
2372 |         <visual name='visual'>
2373 |           <geometry>
2374 |             <mesh>
2375 |               <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
2376 |             </mesh>
2377 |           </geometry>
2378 |         </visual>
2379 |         <collision name='upright'>
2380 |           <pose>0 0 0.5715 0 -0 0</pose>
2381 |           <geometry>
2382 |             <box>
2383 |               <size>4.06542 0.3063 1.143</size>
2384 |             </box>
2385 |           </geometry>
2386 |           <max_contacts>10</max_contacts>
2387 |           <surface>
2388 |             <bounce/>
2389 |             <friction>
2390 |               <ode/>
2391 |             </friction>
2392 |             <contact>
2393 |               <ode/>
2394 |             </contact>
2395 |           </surface>
2396 |         </collision>
2397 |         <collision name='base'>
2398 |           <pose>0 0 0.032258 0 -0 0</pose>
2399 |           <geometry>
2400 |             <box>
2401 |               <size>4.06542 0.8107 0.064516</size>
2402 |             </box>
2403 |           </geometry>
2404 |           <max_contacts>10</max_contacts>
2405 |           <surface>
2406 |             <bounce/>
2407 |             <friction>
2408 |               <ode/>
2409 |             </friction>
2410 |             <contact>
2411 |               <ode/>
2412 |             </contact>
2413 |           </surface>
2414 |         </collision>
2415 |         <collision name='base2'>
2416 |           <pose>0 0 0.1 0 -0 0</pose>
2417 |           <geometry>
2418 |             <box>
2419 |               <size>4.06542 0.65 0.1</size>
2420 |             </box>
2421 |           </geometry>
2422 |           <max_contacts>10</max_contacts>
2423 |           <surface>
2424 |             <bounce/>
2425 |             <friction>
2426 |               <ode/>
2427 |             </friction>
2428 |             <contact>
2429 |               <ode/>
2430 |             </contact>
2431 |           </surface>
2432 |         </collision>
2433 |         <collision name='base3'>
2434 |           <pose>0 0 0.2 0 -0 0</pose>
2435 |           <geometry>
2436 |             <box>
2437 |               <size>4.06542 0.5 0.1</size>
2438 |             </box>
2439 |           </geometry>
2440 |           <max_contacts>10</max_contacts>
2441 |           <surface>
2442 |             <bounce/>
2443 |             <friction>
2444 |               <ode/>
2445 |             </friction>
2446 |             <contact>
2447 |               <ode/>
2448 |             </contact>
2449 |           </surface>
2450 |         </collision>
2451 |         <collision name='left-angle'>
2452 |           <pose>0 -0.224 0.2401 0.9 -0 0</pose>
2453 |           <geometry>
2454 |             <box>
2455 |               <size>4.06542 0.5 0.064516</size>
2456 |             </box>
2457 |           </geometry>
2458 |           <max_contacts>10</max_contacts>
2459 |           <surface>
2460 |             <bounce/>
2461 |             <friction>
2462 |               <ode/>
2463 |             </friction>
2464 |             <contact>
2465 |               <ode/>
2466 |             </contact>
2467 |           </surface>
2468 |         </collision>
2469 |         <collision name='right-angle'>
2470 |           <pose>0 0.224 0.2401 -0.9 0 0</pose>
2471 |           <geometry>
2472 |             <box>
2473 |               <size>4.06542 0.5 0.064516</size>
2474 |             </box>
2475 |           </geometry>
2476 |           <max_contacts>10</max_contacts>
2477 |           <surface>
2478 |             <bounce/>
2479 |             <friction>
2480 |               <ode/>
2481 |             </friction>
2482 |             <contact>
2483 |               <ode/>
2484 |             </contact>
2485 |           </surface>
2486 |         </collision>
2487 |         <velocity_decay>
2488 |           <linear>0</linear>
2489 |           <angular>0</angular>
2490 |         </velocity_decay>
2491 |         <self_collide>0</self_collide>
2492 |         <kinematic>0</kinematic>
2493 |         <gravity>1</gravity>
2494 |       </link>
2495 |       <pose>2.45495 0 0 0 -0 0</pose>
2496 |     </model>
2497 |     <model name='Construction Cone'>
2498 |       <link name='link'>
2499 |         <collision name='collision'>
2500 |           <geometry>
2501 |             <mesh>
2502 |               <scale>10 10 10</scale>
2503 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
2504 |             </mesh>
2505 |           </geometry>
2506 |           <max_contacts>10</max_contacts>
2507 |           <surface>
2508 |             <bounce/>
2509 |             <friction>
2510 |               <ode/>
2511 |             </friction>
2512 |             <contact>
2513 |               <ode/>
2514 |             </contact>
2515 |           </surface>
2516 |         </collision>
2517 |         <visual name='visual'>
2518 |           <geometry>
2519 |             <mesh>
2520 |               <scale>10 10 10</scale>
2521 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
2522 |             </mesh>
2523 |           </geometry>
2524 |         </visual>
2525 |         <velocity_decay>
2526 |           <linear>0</linear>
2527 |           <angular>0</angular>
2528 |         </velocity_decay>
2529 |         <self_collide>0</self_collide>
2530 |         <inertial>
2531 |           <inertia>
2532 |             <ixx>1</ixx>
2533 |             <ixy>0</ixy>
2534 |             <ixz>0</ixz>
2535 |             <iyy>1</iyy>
2536 |             <iyz>0</iyz>
2537 |             <izz>1</izz>
2538 |           </inertia>
2539 |           <mass>1</mass>
2540 |         </inertial>
2541 |         <kinematic>0</kinematic>
2542 |         <gravity>1</gravity>
2543 |       </link>
2544 |       <pose>-5.59121 -8 0 0 -0 0</pose>
2545 |       <static>0</static>
2546 |     </model>
2547 |     <model name='Construction Barrel'>
2548 |       <link name='link'>
2549 |         <inertial>
2550 |           <pose>0 0 0.4 0 -0 0</pose>
2551 |           <mass>500</mass>
2552 |           <inertia>
2553 |             <ixx>51.2096</ixx>
2554 |             <iyy>51.2096</iyy>
2555 |             <izz>25</izz>
2556 |             <ixy>0</ixy>
2557 |             <ixz>0</ixz>
2558 |             <iyz>0</iyz>
2559 |           </inertia>
2560 |         </inertial>
2561 |         <collision name='collision'>
2562 |           <geometry>
2563 |             <mesh>
2564 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2565 |             </mesh>
2566 |           </geometry>
2567 |           <max_contacts>10</max_contacts>
2568 |           <surface>
2569 |             <bounce/>
2570 |             <friction>
2571 |               <ode/>
2572 |             </friction>
2573 |             <contact>
2574 |               <ode/>
2575 |             </contact>
2576 |           </surface>
2577 |         </collision>
2578 |         <visual name='visual'>
2579 |           <geometry>
2580 |             <mesh>
2581 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2582 |             </mesh>
2583 |           </geometry>
2584 |         </visual>
2585 |         <velocity_decay>
2586 |           <linear>0</linear>
2587 |           <angular>0</angular>
2588 |         </velocity_decay>
2589 |         <self_collide>0</self_collide>
2590 |         <kinematic>0</kinematic>
2591 |         <gravity>1</gravity>
2592 |       </link>
2593 |       <pose>7 -2.54643 0 0 -0 0</pose>
2594 |       <static>0</static>
2595 |     </model>
2596 |     <model name='Construction Cone_0'>
2597 |       <link name='link'>
2598 |         <collision name='collision'>
2599 |           <geometry>
2600 |             <mesh>
2601 |               <scale>10 10 10</scale>
2602 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
2603 |             </mesh>
2604 |           </geometry>
2605 |           <max_contacts>10</max_contacts>
2606 |           <surface>
2607 |             <bounce/>
2608 |             <friction>
2609 |               <ode/>
2610 |             </friction>
2611 |             <contact>
2612 |               <ode/>
2613 |             </contact>
2614 |           </surface>
2615 |         </collision>
2616 |         <visual name='visual'>
2617 |           <geometry>
2618 |             <mesh>
2619 |               <scale>10 10 10</scale>
2620 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
2621 |             </mesh>
2622 |           </geometry>
2623 |         </visual>
2624 |         <velocity_decay>
2625 |           <linear>0</linear>
2626 |           <angular>0</angular>
2627 |         </velocity_decay>
2628 |         <self_collide>0</self_collide>
2629 |         <inertial>
2630 |           <inertia>
2631 |             <ixx>1</ixx>
2632 |             <ixy>0</ixy>
2633 |             <ixz>0</ixz>
2634 |             <iyy>1</iyy>
2635 |             <iyz>0</iyz>
2636 |             <izz>1</izz>
2637 |           </inertia>
2638 |           <mass>1</mass>
2639 |         </inertial>
2640 |         <kinematic>0</kinematic>
2641 |         <gravity>1</gravity>
2642 |       </link>
2643 |       <pose>7 6.55652 0 0 -0 0</pose>
2644 |       <static>0</static>
2645 |     </model>
2646 |     <model name='Construction Barrel_0'>
2647 |       <link name='link'>
2648 |         <inertial>
2649 |           <pose>0 0 0.4 0 -0 0</pose>
2650 |           <mass>500</mass>
2651 |           <inertia>
2652 |             <ixx>51.2096</ixx>
2653 |             <iyy>51.2096</iyy>
2654 |             <izz>25</izz>
2655 |             <ixy>0</ixy>
2656 |             <ixz>0</ixz>
2657 |             <iyz>0</iyz>
2658 |           </inertia>
2659 |         </inertial>
2660 |         <collision name='collision'>
2661 |           <geometry>
2662 |             <mesh>
2663 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2664 |             </mesh>
2665 |           </geometry>
2666 |           <max_contacts>10</max_contacts>
2667 |           <surface>
2668 |             <bounce/>
2669 |             <friction>
2670 |               <ode/>
2671 |             </friction>
2672 |             <contact>
2673 |               <ode/>
2674 |             </contact>
2675 |           </surface>
2676 |         </collision>
2677 |         <visual name='visual'>
2678 |           <geometry>
2679 |             <mesh>
2680 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2681 |             </mesh>
2682 |           </geometry>
2683 |         </visual>
2684 |         <velocity_decay>
2685 |           <linear>0</linear>
2686 |           <angular>0</angular>
2687 |         </velocity_decay>
2688 |         <self_collide>0</self_collide>
2689 |         <kinematic>0</kinematic>
2690 |         <gravity>1</gravity>
2691 |       </link>
2692 |       <pose>1.45104 -6.51057 0 0 -0 0</pose>
2693 |       <static>0</static>
2694 |     </model>
2695 |     <model name='asphalt_plane'>
2696 |       <static>1</static>
2697 |       <link name='link'>
2698 |         <collision name='collision'>
2699 |           <geometry>
2700 |             <box>
2701 |               <size>20 20 0.1</size>
2702 |             </box>
2703 |           </geometry>
2704 |           <max_contacts>10</max_contacts>
2705 |           <surface>
2706 |             <bounce/>
2707 |             <friction>
2708 |               <ode/>
2709 |             </friction>
2710 |             <contact>
2711 |               <ode/>
2712 |             </contact>
2713 |           </surface>
2714 |         </collision>
2715 |         <visual name='visual'>
2716 |           <cast_shadows>0</cast_shadows>
2717 |           <geometry>
2718 |             <box>
2719 |               <size>20 20 0.1</size>
2720 |             </box>
2721 |           </geometry>
2722 |           <material>
2723 |             <script>
2724 |               <uri>model://asphalt_plane/materials/scripts</uri>
2725 |               <uri>model://asphalt_plane/materials/textures</uri>
2726 |               <name>vrc/asphalt</name>
2727 |             </script>
2728 |           </material>
2729 |         </visual>
2730 |         <velocity_decay>
2731 |           <linear>0</linear>
2732 |           <angular>0</angular>
2733 |         </velocity_decay>
2734 |         <self_collide>0</self_collide>
2735 |         <kinematic>0</kinematic>
2736 |         <gravity>1</gravity>
2737 |       </link>
2738 |       <pose>-0.464139 0 0 0 -0 0</pose>
2739 |     </model>
2740 |     <model name='Construction Barrel_1'>
2741 |       <link name='link'>
2742 |         <inertial>
2743 |           <pose>0 0 0.4 0 -0 0</pose>
2744 |           <mass>500</mass>
2745 |           <inertia>
2746 |             <ixx>51.2096</ixx>
2747 |             <iyy>51.2096</iyy>
2748 |             <izz>25</izz>
2749 |             <ixy>0</ixy>
2750 |             <ixz>0</ixz>
2751 |             <iyz>0</iyz>
2752 |           </inertia>
2753 |         </inertial>
2754 |         <collision name='collision'>
2755 |           <geometry>
2756 |             <mesh>
2757 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2758 |             </mesh>
2759 |           </geometry>
2760 |           <max_contacts>10</max_contacts>
2761 |           <surface>
2762 |             <bounce/>
2763 |             <friction>
2764 |               <ode/>
2765 |             </friction>
2766 |             <contact>
2767 |               <ode/>
2768 |             </contact>
2769 |           </surface>
2770 |         </collision>
2771 |         <visual name='visual'>
2772 |           <geometry>
2773 |             <mesh>
2774 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2775 |             </mesh>
2776 |           </geometry>
2777 |         </visual>
2778 |         <velocity_decay>
2779 |           <linear>0</linear>
2780 |           <angular>0</angular>
2781 |         </velocity_decay>
2782 |         <self_collide>0</self_collide>
2783 |         <kinematic>0</kinematic>
2784 |         <gravity>1</gravity>
2785 |       </link>
2786 |       <pose>-6.5081 4 0 0 -0 0</pose>
2787 |       <static>0</static>
2788 |     </model>
2789 |     <model name='Construction Barrel_2'>
2790 |       <link name='link'>
2791 |         <inertial>
2792 |           <pose>0 0 0.4 0 -0 0</pose>
2793 |           <mass>500</mass>
2794 |           <inertia>
2795 |             <ixx>51.2096</ixx>
2796 |             <iyy>51.2096</iyy>
2797 |             <izz>25</izz>
2798 |             <ixy>0</ixy>
2799 |             <ixz>0</ixz>
2800 |             <iyz>0</iyz>
2801 |           </inertia>
2802 |         </inertial>
2803 |         <collision name='collision'>
2804 |           <geometry>
2805 |             <mesh>
2806 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2807 |             </mesh>
2808 |           </geometry>
2809 |           <max_contacts>10</max_contacts>
2810 |           <surface>
2811 |             <bounce/>
2812 |             <friction>
2813 |               <ode/>
2814 |             </friction>
2815 |             <contact>
2816 |               <ode/>
2817 |             </contact>
2818 |           </surface>
2819 |         </collision>
2820 |         <visual name='visual'>
2821 |           <geometry>
2822 |             <mesh>
2823 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2824 |             </mesh>
2825 |           </geometry>
2826 |         </visual>
2827 |         <velocity_decay>
2828 |           <linear>0</linear>
2829 |           <angular>0</angular>
2830 |         </velocity_decay>
2831 |         <self_collide>0</self_collide>
2832 |         <kinematic>0</kinematic>
2833 |         <gravity>1</gravity>
2834 |       </link>
2835 |       <pose>-6.46924 5 0 0 -0 0</pose>
2836 |       <static>0</static>
2837 |     </model>
2838 |     <model name='Construction Barrel_3'>
2839 |       <link name='link'>
2840 |         <inertial>
2841 |           <pose>0 0 0.4 0 -0 0</pose>
2842 |           <mass>500</mass>
2843 |           <inertia>
2844 |             <ixx>51.2096</ixx>
2845 |             <iyy>51.2096</iyy>
2846 |             <izz>25</izz>
2847 |             <ixy>0</ixy>
2848 |             <ixz>0</ixz>
2849 |             <iyz>0</iyz>
2850 |           </inertia>
2851 |         </inertial>
2852 |         <collision name='collision'>
2853 |           <geometry>
2854 |             <mesh>
2855 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2856 |             </mesh>
2857 |           </geometry>
2858 |           <max_contacts>10</max_contacts>
2859 |           <surface>
2860 |             <bounce/>
2861 |             <friction>
2862 |               <ode/>
2863 |             </friction>
2864 |             <contact>
2865 |               <ode/>
2866 |             </contact>
2867 |           </surface>
2868 |         </collision>
2869 |         <visual name='visual'>
2870 |           <geometry>
2871 |             <mesh>
2872 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2873 |             </mesh>
2874 |           </geometry>
2875 |         </visual>
2876 |         <velocity_decay>
2877 |           <linear>0</linear>
2878 |           <angular>0</angular>
2879 |         </velocity_decay>
2880 |         <self_collide>0</self_collide>
2881 |         <kinematic>0</kinematic>
2882 |         <gravity>1</gravity>
2883 |       </link>
2884 |       <pose>-6.4302 6 0 0 -0 0</pose>
2885 |       <static>0</static>
2886 |     </model>
2887 |     <model name='Construction Barrel_4'>
2888 |       <link name='link'>
2889 |         <inertial>
2890 |           <pose>0 0 0.4 0 -0 0</pose>
2891 |           <mass>500</mass>
2892 |           <inertia>
2893 |             <ixx>51.2096</ixx>
2894 |             <iyy>51.2096</iyy>
2895 |             <izz>25</izz>
2896 |             <ixy>0</ixy>
2897 |             <ixz>0</ixz>
2898 |             <iyz>0</iyz>
2899 |           </inertia>
2900 |         </inertial>
2901 |         <collision name='collision'>
2902 |           <geometry>
2903 |             <mesh>
2904 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2905 |             </mesh>
2906 |           </geometry>
2907 |           <max_contacts>10</max_contacts>
2908 |           <surface>
2909 |             <bounce/>
2910 |             <friction>
2911 |               <ode/>
2912 |             </friction>
2913 |             <contact>
2914 |               <ode/>
2915 |             </contact>
2916 |           </surface>
2917 |         </collision>
2918 |         <visual name='visual'>
2919 |           <geometry>
2920 |             <mesh>
2921 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2922 |             </mesh>
2923 |           </geometry>
2924 |         </visual>
2925 |         <velocity_decay>
2926 |           <linear>0</linear>
2927 |           <angular>0</angular>
2928 |         </velocity_decay>
2929 |         <self_collide>0</self_collide>
2930 |         <kinematic>0</kinematic>
2931 |         <gravity>1</gravity>
2932 |       </link>
2933 |       <pose>-6 7 0 0 -0 0</pose>
2934 |       <static>0</static>
2935 |     </model>
2936 |     <model name='Construction Barrel_5'>
2937 |       <link name='link'>
2938 |         <inertial>
2939 |           <pose>0 0 0.4 0 -0 0</pose>
2940 |           <mass>500</mass>
2941 |           <inertia>
2942 |             <ixx>51.2096</ixx>
2943 |             <iyy>51.2096</iyy>
2944 |             <izz>25</izz>
2945 |             <ixy>0</ixy>
2946 |             <ixz>0</ixz>
2947 |             <iyz>0</iyz>
2948 |           </inertia>
2949 |         </inertial>
2950 |         <collision name='collision'>
2951 |           <geometry>
2952 |             <mesh>
2953 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2954 |             </mesh>
2955 |           </geometry>
2956 |           <max_contacts>10</max_contacts>
2957 |           <surface>
2958 |             <bounce/>
2959 |             <friction>
2960 |               <ode/>
2961 |             </friction>
2962 |             <contact>
2963 |               <ode/>
2964 |             </contact>
2965 |           </surface>
2966 |         </collision>
2967 |         <visual name='visual'>
2968 |           <geometry>
2969 |             <mesh>
2970 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
2971 |             </mesh>
2972 |           </geometry>
2973 |         </visual>
2974 |         <velocity_decay>
2975 |           <linear>0</linear>
2976 |           <angular>0</angular>
2977 |         </velocity_decay>
2978 |         <self_collide>0</self_collide>
2979 |         <kinematic>0</kinematic>
2980 |         <gravity>1</gravity>
2981 |       </link>
2982 |       <pose>-5 7 0 0 -0 0</pose>
2983 |       <static>0</static>
2984 |     </model>
2985 |     <model name='Construction Barrel_6'>
2986 |       <link name='link'>
2987 |         <inertial>
2988 |           <pose>0 0 0.4 0 -0 0</pose>
2989 |           <mass>500</mass>
2990 |           <inertia>
2991 |             <ixx>51.2096</ixx>
2992 |             <iyy>51.2096</iyy>
2993 |             <izz>25</izz>
2994 |             <ixy>0</ixy>
2995 |             <ixz>0</ixz>
2996 |             <iyz>0</iyz>
2997 |           </inertia>
2998 |         </inertial>
2999 |         <collision name='collision'>
3000 |           <geometry>
3001 |             <mesh>
3002 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
3003 |             </mesh>
3004 |           </geometry>
3005 |           <max_contacts>10</max_contacts>
3006 |           <surface>
3007 |             <bounce/>
3008 |             <friction>
3009 |               <ode/>
3010 |             </friction>
3011 |             <contact>
3012 |               <ode/>
3013 |             </contact>
3014 |           </surface>
3015 |         </collision>
3016 |         <visual name='visual'>
3017 |           <geometry>
3018 |             <mesh>
3019 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
3020 |             </mesh>
3021 |           </geometry>
3022 |         </visual>
3023 |         <velocity_decay>
3024 |           <linear>0</linear>
3025 |           <angular>0</angular>
3026 |         </velocity_decay>
3027 |         <self_collide>0</self_collide>
3028 |         <kinematic>0</kinematic>
3029 |         <gravity>1</gravity>
3030 |       </link>
3031 |       <pose>-4 7 0 0 -0 0</pose>
3032 |       <static>0</static>
3033 |     </model>
3034 |     <model name='Construction Barrel_7'>
3035 |       <link name='link'>
3036 |         <inertial>
3037 |           <pose>0 0 0.4 0 -0 0</pose>
3038 |           <mass>500</mass>
3039 |           <inertia>
3040 |             <ixx>51.2096</ixx>
3041 |             <iyy>51.2096</iyy>
3042 |             <izz>25</izz>
3043 |             <ixy>0</ixy>
3044 |             <ixz>0</ixz>
3045 |             <iyz>0</iyz>
3046 |           </inertia>
3047 |         </inertial>
3048 |         <collision name='collision'>
3049 |           <geometry>
3050 |             <mesh>
3051 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
3052 |             </mesh>
3053 |           </geometry>
3054 |           <max_contacts>10</max_contacts>
3055 |           <surface>
3056 |             <bounce/>
3057 |             <friction>
3058 |               <ode/>
3059 |             </friction>
3060 |             <contact>
3061 |               <ode/>
3062 |             </contact>
3063 |           </surface>
3064 |         </collision>
3065 |         <visual name='visual'>
3066 |           <geometry>
3067 |             <mesh>
3068 |               <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
3069 |             </mesh>
3070 |           </geometry>
3071 |         </visual>
3072 |         <velocity_decay>
3073 |           <linear>0</linear>
3074 |           <angular>0</angular>
3075 |         </velocity_decay>
3076 |         <self_collide>0</self_collide>
3077 |         <kinematic>0</kinematic>
3078 |         <gravity>1</gravity>
3079 |       </link>
3080 |       <pose>-3 7 0 0 -0 0</pose>
3081 |       <static>0</static>
3082 |     </model>
3083 |     <model name='Construction Cone_1'>
3084 |       <link name='link'>
3085 |         <collision name='collision'>
3086 |           <geometry>
3087 |             <mesh>
3088 |               <scale>10 10 10</scale>
3089 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
3090 |             </mesh>
3091 |           </geometry>
3092 |           <max_contacts>10</max_contacts>
3093 |           <surface>
3094 |             <bounce/>
3095 |             <friction>
3096 |               <ode/>
3097 |             </friction>
3098 |             <contact>
3099 |               <ode/>
3100 |             </contact>
3101 |           </surface>
3102 |         </collision>
3103 |         <visual name='visual'>
3104 |           <geometry>
3105 |             <mesh>
3106 |               <scale>10 10 10</scale>
3107 |               <uri>model://construction_cone/meshes/construction_cone.dae</uri>
3108 |             </mesh>
3109 |           </geometry>
3110 |         </visual>
3111 |         <velocity_decay>
3112 |           <linear>0</linear>
3113 |           <angular>0</angular>
3114 |         </velocity_decay>
3115 |         <self_collide>0</self_collide>
3116 |         <inertial>
3117 |           <inertia>
3118 |             <ixx>1</ixx>
3119 |             <ixy>0</ixy>
3120 |             <ixz>0</ixz>
3121 |             <iyy>1</iyy>
3122 |             <iyz>0</iyz>
3123 |             <izz>1</izz>
3124 |           </inertia>
3125 |           <mass>1</mass>
3126 |         </inertial>
3127 |         <kinematic>0</kinematic>
3128 |         <gravity>1</gravity>
3129 |       </link>
3130 |       <pose>8.42887 -5 0 0 -0 0</pose>
3131 |       <static>0</static>
3132 |     </model>
3133 |     <state world_name='default'>
3134 |       <sim_time>1298 470000000</sim_time>
3135 |       <real_time>1304 307193893</real_time>
3136 |       <wall_time>1412023784 735639465</wall_time>
3137 |       <model name='Construction Barrel'>
3138 |         <pose>7.00006 -2.54635 0.049999 4e-06 -0 0.000401</pose>
3139 |         <link name='link'>
3140 |           <pose>7.00006 -2.54635 0.049999 4e-06 -0 0.000401</pose>
3141 |           <velocity>0 0 0 0 -0 0</velocity>
3142 |           <acceleration>0 0 0 0 -0 0</acceleration>
3143 |           <wrench>0 0 0 0 -0 0</wrench>
3144 |         </link>
3145 |       </model>
3146 |       <model name='Construction Barrel_0'>
3147 |         <pose>1.45178 -6.51128 0.049999 -1e-06 -3e-06 3.8e-05</pose>
3148 |         <link name='link'>
3149 |           <pose>1.45178 -6.51128 0.049999 -1e-06 -3e-06 3.8e-05</pose>
3150 |           <velocity>0 0 0 0 -0 0</velocity>
3151 |           <acceleration>0 0 0 0 -0 0</acceleration>
3152 |           <wrench>0 0 0 0 -0 0</wrench>
3153 |         </link>
3154 |       </model>
3155 |       <model name='Construction Barrel_1'>
3156 |         <pose>-6.50482 3.9826 0.049999 4e-06 1e-06 -0.009616</pose>
3157 |         <link name='link'>
3158 |           <pose>-6.50482 3.9826 0.049999 4e-06 1e-06 -0.009616</pose>
3159 |           <velocity>0 0 0 0 -0 0</velocity>
3160 |           <acceleration>0 0 0 0 -0 0</acceleration>
3161 |           <wrench>0 0 0 0 -0 0</wrench>
3162 |         </link>
3163 |       </model>
3164 |       <model name='Construction Barrel_2'>
3165 |         <pose>-6.45065 4.99639 0.049999 -1e-06 -2e-06 0.064981</pose>
3166 |         <link name='link'>
3167 |           <pose>-6.45065 4.99639 0.049999 -1e-06 -2e-06 0.064981</pose>
3168 |           <velocity>0 0 0 0 -0 0</velocity>
3169 |           <acceleration>0 0 0 0 -0 0</acceleration>
3170 |           <wrench>0 0 0 0 -0 0</wrench>
3171 |         </link>
3172 |       </model>
3173 |       <model name='Construction Barrel_3'>
3174 |         <pose>-6.40174 6.01109 0.05 -1e-06 -1e-06 -0.120729</pose>
3175 |         <link name='link'>
3176 |           <pose>-6.40174 6.01109 0.05 -1e-06 -1e-06 -0.120729</pose>
3177 |           <velocity>0 0 0 0 -0 0</velocity>
3178 |           <acceleration>0 0 0 0 -0 0</acceleration>
3179 |           <wrench>0 0 0 0 -0 0</wrench>
3180 |         </link>
3181 |       </model>
3182 |       <model name='Construction Barrel_4'>
3183 |         <pose>-6.00634 7.00879 0.049999 3e-06 -0 -0.04957</pose>
3184 |         <link name='link'>
3185 |           <pose>-6.00634 7.00879 0.049999 3e-06 -0 -0.04957</pose>
3186 |           <velocity>0 0 0 0 -0 0</velocity>
3187 |           <acceleration>0 0 0 0 -0 0</acceleration>
3188 |           <wrench>0 0 0 0 -0 0</wrench>
3189 |         </link>
3190 |       </model>
3191 |       <model name='Construction Barrel_5'>
3192 |         <pose>-4.87565 7.00813 0.049999 -1e-06 -3e-06 0.146162</pose>
3193 |         <link name='link'>
3194 |           <pose>-4.87565 7.00813 0.049999 -1e-06 -3e-06 0.146162</pose>
3195 |           <velocity>0 0 0 0 -0 0</velocity>
3196 |           <acceleration>0 0 0 0 -0 0</acceleration>
3197 |           <wrench>0 0 0 0 -0 0</wrench>
3198 |         </link>
3199 |       </model>
3200 |       <model name='Construction Barrel_6'>
3201 |         <pose>-3.85615 7.02809 0.0897 -0.01028 -0.077931 0.017839</pose>
3202 |         <link name='link'>
3203 |           <pose>-3.85615 7.02809 0.0897 -0.01028 -0.077931 0.017839</pose>
3204 |           <velocity>0 0 0 0 -0 0</velocity>
3205 |           <acceleration>0 0 0 0 -0 0</acceleration>
3206 |           <wrench>0 0 0 0 -0 0</wrench>
3207 |         </link>
3208 |       </model>
3209 |       <model name='Construction Barrel_7'>
3210 |         <pose>-2.95979 6.99802 0.049998 -3e-06 -7e-06 -0.017994</pose>
3211 |         <link name='link'>
3212 |           <pose>-2.95979 6.99802 0.049998 -3e-06 -7e-06 -0.017994</pose>
3213 |           <velocity>0 0 0 0 -0 0</velocity>
3214 |           <acceleration>0 0 0 0 -0 0</acceleration>
3215 |           <wrench>0 0 0 0 -0 0</wrench>
3216 |         </link>
3217 |       </model>
3218 |       <model name='Construction Cone'>
3219 |         <pose>-5.59121 -8 0.05 0 -1e-06 0</pose>
3220 |         <link name='link'>
3221 |           <pose>-5.59121 -8 0.05 0 -1e-06 0</pose>
3222 |           <velocity>0 0 0 0 -0 0</velocity>
3223 |           <acceleration>0 0 0 0 -0 0</acceleration>
3224 |           <wrench>0 0 0 0 -0 0</wrench>
3225 |         </link>
3226 |       </model>
3227 |       <model name='Construction Cone_0'>
3228 |         <pose>6.99685 6.55732 0.05 -8.27181e-25 1e-06 -0.007012</pose>
3229 |         <link name='link'>
3230 |           <pose>6.99685 6.55732 0.05 -8.27181e-25 1e-06 -0.007012</pose>
3231 |           <velocity>0 0 0 0 -0 0</velocity>
3232 |           <acceleration>0 0 0 0 -0 0</acceleration>
3233 |           <wrench>0 0 0 0 -0 0</wrench>
3234 |         </link>
3235 |       </model>
3236 |       <model name='Construction Cone_1'>
3237 |         <pose>8.42887 -5 0.049999 0 3e-06 0</pose>
3238 |         <link name='link'>
3239 |           <pose>8.42887 -5 0.049999 0 3e-06 0</pose>
3240 |           <velocity>0 0 0 0 -0 0</velocity>
3241 |           <acceleration>0 0 0 0 -0 0</acceleration>
3242 |           <wrench>0 0 0 0 -0 0</wrench>
3243 |         </link>
3244 |       </model>
3245 |       <model name='Dumpster'>
3246 |         <pose>2.0181 8.87221 0.050916 -1.05879e-22 -3e-06 -0.188821</pose>
3247 |         <link name='link'>
3248 |           <pose>2.0181 8.87221 0.050916 -1.05879e-22 -3e-06 -0.188821</pose>
3249 |           <velocity>0 0 0 0 -0 0</velocity>
3250 |           <acceleration>0 0 0 0 -0 0</acceleration>
3251 |           <wrench>0 0 0 0 -0 0</wrench>
3252 |         </link>
3253 |       </model>
3254 |       <model name='Dumpster_0'>
3255 |         <pose>-2.35048 -4.41043 0.050918 0 -0 2.08003</pose>
3256 |         <link name='link'>
3257 |           <pose>-2.35048 -4.41043 0.050918 0 -0 2.08003</pose>
3258 |           <velocity>0 0 0 0 -0 0</velocity>
3259 |           <acceleration>0 0 0 0 -0 0</acceleration>
3260 |           <wrench>0 0 0 0 -0 0</wrench>
3261 |         </link>
3262 |       </model>
3263 |       <model name='asphalt_plane'>
3264 |         <pose>0.076733 -0.110379 0 0 -0 0</pose>
3265 |         <link name='link'>
3266 |           <pose>0.076733 -0.110379 0 0 -0 0</pose>
3267 |           <velocity>0 0 0 0 -0 0</velocity>
3268 |           <acceleration>0 0 0 0 -0 0</acceleration>
3269 |           <wrench>0 0 0 0 -0 0</wrench>
3270 |         </link>
3271 |       </model>
3272 |       <model name='fire_hydrant'>
3273 |         <pose>3.18024 -6.51118 0 0 -0 0</pose>
3274 |         <link name='link'>
3275 |           <pose>3.18024 -6.51118 0 0 -0 0</pose>
3276 |           <velocity>0 0 0 0 -0 0</velocity>
3277 |           <acceleration>0 0 0 0 -0 0</acceleration>
3278 |           <wrench>0 0 0 0 -0 0</wrench>
3279 |         </link>
3280 |       </model>
3281 |       <model name='fire_hydrant_0'>
3282 |         <pose>-3 4 0 0 -0 0</pose>
3283 |         <link name='link'>
3284 |           <pose>-3 4 0 0 -0 0</pose>
3285 |           <velocity>0 0 0 0 -0 0</velocity>
3286 |           <acceleration>0 0 0 0 -0 0</acceleration>
3287 |           <wrench>0 0 0 0 -0 0</wrench>
3288 |         </link>
3289 |       </model>
3290 |       <model name='fire_hydrant_1'>
3291 |         <pose>-7.90686 -2.41363 0 0 -0 0</pose>
3292 |         <link name='link'>
3293 |           <pose>-7.90686 -2.41363 0 0 -0 0</pose>
3294 |           <velocity>0 0 0 0 -0 0</velocity>
3295 |           <acceleration>0 0 0 0 -0 0</acceleration>
3296 |           <wrench>0 0 0 0 -0 0</wrench>
3297 |         </link>
3298 |       </model>
3299 |       <model name='ground_plane'>
3300 |         <pose>0 0 0 0 -0 0</pose>
3301 |         <link name='link'>
3302 |           <pose>0 0 0 0 -0 0</pose>
3303 |           <velocity>0 0 0 0 -0 0</velocity>
3304 |           <acceleration>0 0 0 0 -0 0</acceleration>
3305 |           <wrench>0 0 0 0 -0 0</wrench>
3306 |         </link>
3307 |       </model>
3308 |       <model name='jersey_barrier'>
3309 |         <pose>-8 -10 0 0 -0 0</pose>
3310 |         <link name='link'>
3311 |           <pose>-8 -10 0 0 -0 0</pose>
3312 |           <velocity>0 0 0 0 -0 0</velocity>
3313 |           <acceleration>0 0 0 0 -0 0</acceleration>
3314 |           <wrench>0 0 0 0 -0 0</wrench>
3315 |         </link>
3316 |       </model>
3317 |       <model name='jersey_barrier_0'>
3318 |         <pose>-3 -10 0 0 -0 0</pose>
3319 |         <link name='link'>
3320 |           <pose>-3 -10 0 0 -0 0</pose>
3321 |           <velocity>0 0 0 0 -0 0</velocity>
3322 |           <acceleration>0 0 0 0 -0 0</acceleration>
3323 |           <wrench>0 0 0 0 -0 0</wrench>
3324 |         </link>
3325 |       </model>
3326 |       <model name='jersey_barrier_1'>
3327 |         <pose>2 -10 0 0 -0 0</pose>
3328 |         <link name='link'>
3329 |           <pose>2 -10 0 0 -0 0</pose>
3330 |           <velocity>0 0 0 0 -0 0</velocity>
3331 |           <acceleration>0 0 0 0 -0 0</acceleration>
3332 |           <wrench>0 0 0 0 -0 0</wrench>
3333 |         </link>
3334 |       </model>
3335 |       <model name='jersey_barrier_10'>
3336 |         <pose>-10.0774 -2.27159 0 0 -0 1.56</pose>
3337 |         <link name='link'>
3338 |           <pose>-10.0774 -2.27159 0 0 -0 1.56</pose>
3339 |           <velocity>0 0 0 0 -0 0</velocity>
3340 |           <acceleration>0 0 0 0 -0 0</acceleration>
3341 |           <wrench>0 0 0 0 -0 0</wrench>
3342 |         </link>
3343 |       </model>
3344 |       <model name='jersey_barrier_11'>
3345 |         <pose>-9.77013 2.34791 0 0 -0 1.72</pose>
3346 |         <link name='link'>
3347 |           <pose>-9.77013 2.34791 0 0 -0 1.72</pose>
3348 |           <velocity>0 0 0 0 -0 0</velocity>
3349 |           <acceleration>0 0 0 0 -0 0</acceleration>
3350 |           <wrench>0 0 0 0 -0 0</wrench>
3351 |         </link>
3352 |       </model>
3353 |       <model name='jersey_barrier_12'>
3354 |         <pose>10.0879 -7.62159 0 0 -0 1.56</pose>
3355 |         <link name='link'>
3356 |           <pose>10.0879 -7.62159 0 0 -0 1.56</pose>
3357 |           <velocity>0 0 0 0 -0 0</velocity>
3358 |           <acceleration>0 0 0 0 -0 0</acceleration>
3359 |           <wrench>0 0 0 0 -0 0</wrench>
3360 |         </link>
3361 |       </model>
3362 |       <model name='jersey_barrier_13'>
3363 |         <pose>10 7 0 0 -0 1.48</pose>
3364 |         <link name='link'>
3365 |           <pose>10 7 0 0 -0 1.48</pose>
3366 |           <velocity>0 0 0 0 -0 0</velocity>
3367 |           <acceleration>0 0 0 0 -0 0</acceleration>
3368 |           <wrench>0 0 0 0 -0 0</wrench>
3369 |         </link>
3370 |       </model>
3371 |       <model name='jersey_barrier_14'>
3372 |         <pose>-9.64482 7.05946 0 0 -0 1.44</pose>
3373 |         <link name='link'>
3374 |           <pose>-9.64482 7.05946 0 0 -0 1.44</pose>
3375 |           <velocity>0 0 0 0 -0 0</velocity>
3376 |           <acceleration>0 0 0 0 -0 0</acceleration>
3377 |           <wrench>0 0 0 0 -0 0</wrench>
3378 |         </link>
3379 |       </model>
3380 |       <model name='jersey_barrier_15'>
3381 |         <pose>2.45495 0 0 0 -0 2.36</pose>
3382 |         <link name='link'>
3383 |           <pose>2.45495 0 0 0 -0 2.36</pose>
3384 |           <velocity>0 0 0 0 -0 0</velocity>
3385 |           <acceleration>0 0 0 0 -0 0</acceleration>
3386 |           <wrench>0 0 0 0 -0 0</wrench>
3387 |         </link>
3388 |       </model>
3389 |       <model name='jersey_barrier_2'>
3390 |         <pose>7 -10 0 0 -0 0</pose>
3391 |         <link name='link'>
3392 |           <pose>7 -10 0 0 -0 0</pose>
3393 |           <velocity>0 0 0 0 -0 0</velocity>
3394 |           <acceleration>0 0 0 0 -0 0</acceleration>
3395 |           <wrench>0 0 0 0 -0 0</wrench>
3396 |         </link>
3397 |       </model>
3398 |       <model name='jersey_barrier_3'>
3399 |         <pose>-7.50675 10 0 0 -0 0</pose>
3400 |         <link name='link'>
3401 |           <pose>-7.50675 10 0 0 -0 0</pose>
3402 |           <velocity>0 0 0 0 -0 0</velocity>
3403 |           <acceleration>0 0 0 0 -0 0</acceleration>
3404 |           <wrench>0 0 0 0 -0 0</wrench>
3405 |         </link>
3406 |       </model>
3407 |       <model name='jersey_barrier_4'>
3408 |         <pose>-2 10 0 0 -0 0</pose>
3409 |         <link name='link'>
3410 |           <pose>-2 10 0 0 -0 0</pose>
3411 |           <velocity>0 0 0 0 -0 0</velocity>
3412 |           <acceleration>0 0 0 0 -0 0</acceleration>
3413 |           <wrench>0 0 0 0 -0 0</wrench>
3414 |         </link>
3415 |       </model>
3416 |       <model name='jersey_barrier_5'>
3417 |         <pose>3 10 0 0 -0 0</pose>
3418 |         <link name='link'>
3419 |           <pose>3 10 0 0 -0 0</pose>
3420 |           <velocity>0 0 0 0 -0 0</velocity>
3421 |           <acceleration>0 0 0 0 -0 0</acceleration>
3422 |           <wrench>0 0 0 0 -0 0</wrench>
3423 |         </link>
3424 |       </model>
3425 |       <model name='jersey_barrier_6'>
3426 |         <pose>8 10 0 0 -0 0</pose>
3427 |         <link name='link'>
3428 |           <pose>8 10 0 0 -0 0</pose>
3429 |           <velocity>0 0 0 0 -0 0</velocity>
3430 |           <acceleration>0 0 0 0 -0 0</acceleration>
3431 |           <wrench>0 0 0 0 -0 0</wrench>
3432 |         </link>
3433 |       </model>
3434 |       <model name='jersey_barrier_7'>
3435 |         <pose>9.74902 -2.57759 0 0 -0 1.64</pose>
3436 |         <link name='link'>
3437 |           <pose>9.74902 -2.57759 0 0 -0 1.64</pose>
3438 |           <velocity>0 0 0 0 -0 0</velocity>
3439 |           <acceleration>0 0 0 0 -0 0</acceleration>
3440 |           <wrench>0 0 0 0 -0 0</wrench>
3441 |         </link>
3442 |       </model>
3443 |       <model name='jersey_barrier_8'>
3444 |         <pose>9.70141 2.24369 0 0 -0 1.6</pose>
3445 |         <link name='link'>
3446 |           <pose>9.70141 2.24369 0 0 -0 1.6</pose>
3447 |           <velocity>0 0 0 0 -0 0</velocity>
3448 |           <acceleration>0 0 0 0 -0 0</acceleration>
3449 |           <wrench>0 0 0 0 -0 0</wrench>
3450 |         </link>
3451 |       </model>
3452 |       <model name='jersey_barrier_9'>
3453 |         <pose>-10.0607 -6.69856 0 0 0 -1.4</pose>
3454 |         <link name='link'>
3455 |           <pose>-10.0607 -6.69856 0 0 0 -1.4</pose>
3456 |           <velocity>0 0 0 0 -0 0</velocity>
3457 |           <acceleration>0 0 0 0 -0 0</acceleration>
3458 |           <wrench>0 0 0 0 -0 0</wrench>
3459 |         </link>
3460 |       </model>
3461 |     </state>
3462 |     <gui fullscreen='0'>
3463 |       <camera name='user_camera'>
3464 |         <pose>16.2337 1.23674 17.6497 0 0.923643 -3.08299</pose>
3465 |         <view_controller>orbit</view_controller>
3466 |       </camera>
3467 |     </gui>
3468 |   </world>
3469 | </sdf>
3470 | 


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