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ethanabrooks/shifty.world

Created May 11, 2017 22:32
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shifty.world
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<!--<max_step_size>0.001</max_step_size>-->
<real_time_factor>0</real_time_factor>
<!--<real_time_update_rate>1000</real_time_update_rate>-->
<!--<real_time_update_rate>0</real_time_update_rate>-->
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='Simple_Maze'>
<pose frame=''>-3.78616 -2.07429 0 0 -0 0</pose>
<!--<pose frame=''>0 0 0 0 -0 0</pose>-->
<link name='Wall_25'>
<collision name='Wall_25_Collision'>
<geometry>
<box>
<size>12 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_25_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>12 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<pose frame=''>0.000469 -3.92078 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_26'>
<collision name='Wall_26_Collision'>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_26_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<pose frame=''>5.92547 0.004224 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_27'>
<collision name='Wall_27_Collision'>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_27_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>0.435294 0.796078 0.67451 1</ambient>
</material>
</visual>
<pose frame=''>4.75047 3.92922 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_28'>
<collision name='Wall_28_Collision'>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_28_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<pose frame=''>3.57547 1.25422 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_29'>
<collision name='Wall_29_Collision'>
<geometry>
<box>
<size>9.5 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_29_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<pose frame=''>-1.09953 -1.42078 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_30'>
<collision name='Wall_30_Collision'>
<geometry>
<box>
<size>2.6545 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_30_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.6545 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CeilingTiled</name>
</script>
<ambient>0.760784 0.662745 0.627451 1</ambient>
</material>
</visual>
<pose frame=''>-5.84953 -2.67078 0 0 0 -1.63072</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_32'>
<collision name='Wall_32_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_32_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>-2.01597 -1.46503 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_34'>
<collision name='Wall_34_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_34_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>0.357428 -1.46503 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_36'>
<collision name='Wall_36_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_36_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>-2.01597 -3.87922 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_38'>
<collision name='Wall_38_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_38_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>0.417769 -3.85911 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_40'>
<collision name='Wall_40_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_40_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>2.65037 -3.85911 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_42'>
<collision name='Wall_42_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_42_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>2.65037 -1.52537 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_44'>
<collision name='Wall_44_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_44_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>3.64571 -0.952416 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_50'>
<collision name='Wall_50_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_50_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>5.83866 -0.952416 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_52'>
<collision name='Wall_52_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_52_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>3.64571 1.09917 0 0 -0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='Wall_56'>
<collision name='Wall_56_Collision'>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='Wall_56_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>0.996078 0.47451 0.0196078 1</ambient>
</material>
</visual>
<pose frame=''>5.87889 1.11928 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>1</static>
</model>
<state world_name='default'>
<sim_time>187 355000000</sim_time>
<real_time>188 232213400</real_time>
<wall_time>1469630834 912935002</wall_time>
<model name='Simple_Maze'>
<pose frame=''>4.30538 3.27714 0 10 -0 0.143567</pose>
<!--<pose frame=''>10 10 10 10 0 0</pose>-->
<link name='Wall_25'>
<pose frame=''>4.86681 -0.603232 0 0 -0 0.143567</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_26'>
<pose frame=''>10.1693 4.12911 0 0 -0 1.71437</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_27'>
<pose frame=''>8.44481 7.84561 0 0 0 -2.99803</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_28'>
<pose frame=''>7.66462 5.03002 0 0 0 -1.42723</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_29'>
<pose frame=''>3.42044 1.71367 0 0 0 -2.99803</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_30'>
<pose frame=''>-1.10185 -0.203078 0 0 0 -1.48715</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_32'>
<pose frame=''>2.51976 1.53875 0 0 0 -1.42723</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_34'>
<pose frame=''>4.86874 1.87833 0 0 0 -1.42723</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_36'>
<pose frame=''>2.86517 -0.850601 0 0 -0 1.71437</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_38'>
<pose frame=''>5.271 -0.482492 0 0 -0 1.71437</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_40'>
<pose frame=''>7.48063 -0.163063 0 0 -0 1.71437</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_42'>
<pose frame=''>7.14673 2.14667 0 0 0 -1.42723</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_44'>
<pose frame=''>8.04985 2.85613 0 0 -0 0.143567</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_50'>
<pose frame=''>10.2202 3.16989 0 0 0 -2.99803</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_52'>
<pose frame=''>7.75632 4.88661 0 0 -0 0.143567</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='Wall_56'>
<pose frame=''>9.96365 5.22603 0 0 0 -2.99803</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>6.16861 -6.8586 29.2113 -2e-06 1.12038 2.08392</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>
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