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XTDrone/sitl_config/worlds/robocup.world

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<?xml version="1.0" ?>
<sdf version='1.5'>
<world name='default'>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>46.9439 -26.8589 6.90853 -0 0.125646 3.13697</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<scene>
<grid>0</grid>
<origin_visual>0</origin_visual>
<ambient>0.592 0.624 0.635 1</ambient>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<background>0.35 0.35 0.35 1</background>
<shadows>1</shadows>
</scene>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
</physics>
<light name='sun' type='directional'>
<pose frame=''>0 0 1000 0 -0 0</pose>
<cast_shadows>1</cast_shadows>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.4</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>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<actor name="actor_0">
<skin>
<filename>model://walker/walk_0.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_0.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor1_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>0 0 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<actor name="actor_1">
<skin>
<filename>model://walker/walk_1.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_1.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor2_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>70 22 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<actor name="actor_2">
<skin>
<filename>model://walker/walk_2.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_2.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor2_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>18 -18 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<actor name="actor_3">
<skin>
<filename>model://walker/walk_3.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_3.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor3_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>72 32 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<actor name="actor_4">
<skin>
<filename>model://walker/walk_4.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_4.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor4_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>-32 -27 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<actor name="actor_5">
<skin>
<filename>model://walker/walk_5.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>model://walker/walk_5.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor5_plugin" filename="libros_actor_cmd_pose_plugin.so">
<init_pose>-35 -28 1.25 1.57 0 0</init_pose>
<animation_factor>5.1</animation_factor>
</plugin>
</actor>
<model name='city_terrain_1'>
<static>1</static>
<link name='link'>
<pose frame=''>0 0 -5 0 -0 0</pose>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 500</size>
</plane>
</geometry>
<contact>
<ode>
<kp>1e+06</kp>
<kd>100</kd>
<max_vel>1</max_vel>
<min_depth>0</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<heightmap>
<use_terrain_paging>0</use_terrain_paging>
<texture>
<diffuse>model://ocean/materials/textures/soil_sand_0045_01.jpg</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<blend>
<min_height>0</min_height>
<fade_dist>1.5</fade_dist>
</blend>
<texture>
<diffuse>model://ocean/materials/textures/soil_sand_0045_01.jpg</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<blend>
<min_height>2.5</min_height>
<fade_dist>5</fade_dist>
</blend>
<texture>
<diffuse>model://city_terrain/materials/textures/forest.jpg</diffuse>
<normal>file://media/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<uri>model://city_terrain/materials/textures/city_terrain.jpg</uri>
<size>500 500 75</size>
<pos>40 -20 -5</pos>
</heightmap>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>0 0 0 0 -0 0</pose>
</model>
<model name='ocean_2'>
<static>1</static>
<link name='ocean_link'>
<visual name='ocean_visual1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://ocean/mesh.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Waves_GLSL</name>
</script>
</material>
</visual>
<visual name='ocean_below'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://ocean/mesh_below.dae</uri>
<scale>0.5 0.5 0.5</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Waves_GLSL</name>
</script>
</material>
</visual>
<visual name='north'>
<pose frame=''>250 0 -3.5 3.14159 -1.57079 3.14159</pose>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>7 500</size>
</plane>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Seabox</name>
</script>
</material>
</visual>
<visual name='south'>
<pose frame=''>-250 0 -3.5 3.14159 1.57079 3.14159</pose>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>7 500</size>
</plane>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Seabox</name>
</script>
</material>
</visual>
<visual name='west'>
<pose frame=''>0 250 -3.5 1.5708 -0 0</pose>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 7</size>
</plane>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Seabox</name>
</script>
</material>
</visual>
<visual name='east'>
<pose frame=''>0 -250 -3.5 -1.5708 0 0</pose>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 7</size>
</plane>
</geometry>
<material>
<script>
<uri>model://ocean/materials/scripts/ocean.material</uri>
<name>Seabox</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>40 -20 -2 0 -0 0</pose>
</model>
<road name='road_y_1'>
<width>7.4</width>
<point>-45 -48.7 0.01</point>
<point>-45 49.2 0.01</point>
</road>
<road name='road_y_2'>
<width>7.4</width>
<point>-15 -48.7 0.01</point>
<point>-15 49.2 0.01</point>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Residential</name>
</script>
</material>
</road>
<road name='road_y_3'>
<width>7.4</width>
<point>45 -48.7 0.01</point>
<point>45 49.2 0.01</point>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Residential</name>
</script>
</material>
</road>
<road name='road_y_4'>
<width>7.4</width>
<point>110 -48.7 0.01</point>
<point>110 49.2 0.01</point>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Residential</name>
</script>
</material>
</road>
<road name='road_y_5'>
<width>7.4</width>
<point>120 -48.7 0.01</point>
<point>120 49.2 0.01</point>
</road>
<road name='road_x_1'>
<width>8.4</width>
<point>-41.3 -45 0.015</point>
<point>116.3 -45 0.015</point>
</road>
<road name='road_x_2'>
<width>8.4</width>
<point>-41.3 0 0.015</point>
<point>116.3 0 0.015</point>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Residential</name>
</script>
</material>
</road>
<road name='road_x_3'>
<width>8.4</width>
<point>-41.3 45 0.015</point>
<point>116.3 45 0.015</point>
</road>
<model name='sidewalk_3'>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<visual name='visual'>
<geometry>
<polyline>
<height>0.15</height>
<point>-41.3 -40.8</point>
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</polyline>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='sidewalk_4'>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<visual name='visual'>
<geometry>
<polyline>
<height>0.15</height>
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<material>
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</material>
</visual>
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<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='sidewalk_5'>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
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<visual name='visual'>
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</visual>
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</link>
</model>
<model name='sidewalk_6'>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<visual name='visual'>
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</model>
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<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
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</visual>
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</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='sidewalk_8'>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='link'>
<visual name='visual'>
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<<<<<<< HEAD
=======
>>>>>>> f5abb49c166678aab83abf9f9a2d0649e4f4eead
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<model name='sidewalk_34'>
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<model name='stop_sign_184'>
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<model name='stop_sign_184_clone'>
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<model name='stop_sign_184_clone_0'>
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<model name='stop_sign_186'>
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<model name='stop_sign_187'>
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<model name='stop_sign_188'>
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<velocity>0 0 0 0 -0 0</velocity>
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</model>
<light name='sun'>
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</light>
<light name='user_directional_light_0'>
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<light name='user_point_light_0'>
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</state>
<model name='house_1_146_clone'>
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<geometry>
<mesh>
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<mesh>
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<scale>1.5 1.5 1.5</scale>
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<script>
<uri>model://house_1/materials/scripts</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_1/Diffuse</name>
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<shader type='normal_map_tangent_space'>
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<!--
<model name='House'>
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<pose frame=''>29.9646 19.6954 0.036 0 -0 0</pose>
<link name='link'>
<inertial>
<mass>1000</mass>
<inertia>
<ixx>1000</ixx>
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<iyz>0</iyz>
<izz>1000</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
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</mesh>
</geometry>
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<surface>
<contact>
<ode/>
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<bounce/>
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<ode/>
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<visual name='visual'>
<geometry>
<mesh>
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</model>
-->
<model name='casual_female'>
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<collision name='box'>
<pose frame=''>0 0 0.9 0 -0 0</pose>
<geometry>
<box>
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<contact>
<ode/>
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<ode/>
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</collision>
<visual name='visual'>
<pose frame=''>0 0 0.02 0.04 -0 0</pose>
<geometry>
<mesh>
<uri>model://casual_female/meshes/casual_female.dae</uri>
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</link>
<pose frame=''>-26.902 13.6572 0 0 -0 0</pose>
</model>
<model name='EuroPallet'>
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<link name='link'>
<inertial>
<mass>25</mass>
<inertia>
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<ixz>0</ixz>
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<izz>1</izz>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<collision name='top'>
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</box>
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<contact>
<ode/>
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<ode/>
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<collision name='colum_1'>
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<collision name='colum_3'>
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<collision name='colum_5'>
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<contact>
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<visual name='visual'>
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<mesh>
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</model>
<model name='Shelves high'>
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<link name='link'>
<collision name='collision'>
<geometry>
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<uri>model://shelves_high/meshes/shelves_high_collision.dae</uri>
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<pose frame=''>5.58824 35.6933 0 0 -0 0</pose>
</model>
<model name='Shelves high 2'>
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<link name='link'>
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<uri>model://shelves_high2/meshes/shelves_high2_collision.dae</uri>
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<pose frame=''>89.3184 -28.9368 0 0 -0 0</pose>
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<model name='Shelves high 2_0'>
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<model name='Shelves high 2_1'>
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<model name='Shelves high_0'>
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<model name='cessna_c172'>
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<pose frame=''>-0.0414 0 0.9271 0 -0 0</pose>
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<geometry>
<mesh>
<uri>model://cessna/meshes/body.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='left_aileron'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.8434</ixx>
<ixy>0</ixy>
<iyy>0.0119</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.855</izz>
</inertia>
<pose frame=''>-1.65 3.7 1.5 0.05 -0 -0.12</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/left_aileron.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/left_aileron.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='left_flap'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.6747</ixx>
<ixy>0</ixy>
<iyy>0.0242</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.6962</izz>
</inertia>
<pose frame=''>-1.8 1.55 1.43 0.02 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/left_flap.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/left_flap.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='right_aileron'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.8434</ixx>
<ixy>0</ixy>
<iyy>0.0119</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.855</izz>
</inertia>
<pose frame=''>-1.65 -3.7 1.5 -0.05 -0 0.12</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/right_aileron.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/right_aileron.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='right_flap'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.6747</ixx>
<ixy>0</ixy>
<iyy>0.0242</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.6962</izz>
</inertia>
<pose frame=''>-1.8 -1.55 1.43 -0.02 0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/right_flap.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/right_flap.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='elevators'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>1.5008</ixx>
<ixy>0</ixy>
<iyy>0.0274</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>1.5266</izz>
</inertia>
<pose frame=''>-5.75 0 0.57 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/elevators.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/elevators.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='rudder'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.4708</ixx>
<ixy>0</ixy>
<iyy>0.5208</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0508</izz>
</inertia>
<pose frame=''>-6.1 0 1.3 0 -0.35 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/rudder.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/rudder.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='propeller'>
<pose frame=''>1.79 0 0.855 0 -0 0</pose>
<inertial>
<mass>18.37</mass>
<inertia>
<ixx>7.5067</ixx>
<ixy>0</ixy>
<iyy>7.515</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.068275</izz>
</inertia>
<pose frame=''>-0.35 0 0 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_prop.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_prop.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='front_wheel'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.01786</ixx>
<ixy>0</ixy>
<iyy>0.01786</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0324</izz>
</inertia>
<pose frame=''>0.712 0 -0.313 1.57079 -0 0</pose>
</inertial>
<collision name='collision'>
<pose frame=''>0.712 0 -0.313 1.57079 -0 0</pose>
<geometry>
<cylinder>
<radius>0.18</radius>
<length>0.1</length>
</cylinder>
</geometry>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_front_wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='rear_left_wheel'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.035516</ixx>
<ixy>0</ixy>
<iyy>0.035516</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0625</izz>
</inertia>
<pose frame=''>-1 1.27 -0.25 1.57079 -0 0</pose>
</inertial>
<collision name='collision'>
<pose frame=''>-1 1.27 -0.25 1.57079 -0 0</pose>
<geometry>
<cylinder>
<radius>0.25</radius>
<length>0.16</length>
</cylinder>
</geometry>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_rear_left_wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='rear_right_wheel'>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.035516</ixx>
<ixy>0</ixy>
<iyy>0.035516</iyy>
<ixz>0</ixz>
<iyz>0</iyz>
<izz>0.0625</izz>
</inertia>
<pose frame=''>-1 -1.27 -0.25 1.57079 -0 0</pose>
</inertial>
<collision name='collision'>
<pose frame=''>-1 -1.27 -0.25 1.57079 -0 0</pose>
<geometry>
<cylinder>
<radius>0.25</radius>
<length>0.16</length>
</cylinder>
</geometry>
<friction>
<ode>
<mu>0.3</mu>
<mu2>0.3</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://cessna/meshes/cessna_rear_right_wheel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='left_flap_joint' type='revolute'>
<parent>body</parent>
<child>left_flap</child>
<pose frame=''>-1.6 1.55 1.43 0.02 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='left_aileron_joint' type='revolute'>
<parent>body</parent>
<child>left_aileron</child>
<pose frame=''>-1.45 3.7 1.5 0.05 -0 -0.12</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='right_flap_joint' type='revolute'>
<parent>body</parent>
<child>right_flap</child>
<pose frame=''>-1.6 -1.55 1.43 -0.02 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='right_aileron_joint' type='revolute'>
<parent>body</parent>
<child>right_aileron</child>
<pose frame=''>-1.45 -3.7 1.5 -0.05 -0 0.12</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='elevators_joint' type='revolute'>
<parent>body</parent>
<child>elevators</child>
<pose frame=''>-5.55 0 0.57 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='rudder_joint' type='revolute'>
<parent>body</parent>
<child>rudder</child>
<pose frame=''>-5.9 0 1.3 0 -0.35 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>1</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='propeller_joint' type='revolute'>
<parent>body</parent>
<child>propeller</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.001</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='front_wheel_joint' type='revolute'>
<parent>body</parent>
<child>front_wheel</child>
<pose frame=''>0.712 0 -0.313 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='rear_left_wheel_joint' type='revolute'>
<parent>body</parent>
<child>rear_left_wheel</child>
<pose frame=''>-1 -1.27 -0.25 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
<joint name='rear_right_wheel_joint' type='revolute'>
<parent>body</parent>
<child>rear_right_wheel</child>
<pose frame=''>-1 1.27 -0.25 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+12</lower>
<upper>1e+12</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
</ode>
</physics>
</joint>
</model>
<model name='fire_hydrant_95_clone_2_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>6.82536 -39.9421 0.15 0 -0 0</pose>
</model>
<model name='fire_hydrant_95_clone_2_clone_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>-3.54695 -40.9334 0.15 0 -0 0</pose>
</model>
<model name='stop_sign_184_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://stop_sign/materials/scripts</uri>
<uri>model://stop_sign/materials/textures</uri>
<name>StopSign/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>-11.0955 3.92021 0 0 -0 3.14</pose>
</model>
<model name='stop_sign_184_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://stop_sign/materials/scripts</uri>
<uri>model://stop_sign/materials/textures</uri>
<name>StopSign/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose frame=''>10.9133 -4.26207 0 0 -0 3.14</pose>
</model>
</world>
</sdf>
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