final_project_world.world

<sdf version='1.6'>
  <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>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>20</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>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</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="wall_1_model">
      <pose>0.0 -10.0 1.0 0.0 0.0 0.0</pose>
      <static>1</static>
      <link name="wall_1_body">
        <inertial>
          <mass>1.000000</mass>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>20.0 0.2 2.000000</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce />
            <friction>
              <ode />
            </friction>
            <contact>
              <ode />
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>20.0 0.2 2.000000</size>
            </box>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0.000000</linear>
          <angular>0.000000</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <model name="wall_2_model">
      <pose>0.0 10.0 1.0 0.0 0.0 0.0</pose>
      <static>1</static>
      <link name="wall_2_body">
        <inertial>
          <mass>1.000000</mass>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>20.000000 0.200000 2.000000</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce />
            <friction>
              <ode />
            </friction>
            <contact>
              <ode />
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>20.000000 0.200000 2.000000</size>
            </box>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0.000000</linear>
          <angular>0.000000</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <model name="wall_3_model">
      <pose>-10.0 0.0 1.0 0.0 0.0 0.0</pose>
      <static>1</static>
      <link name="wall_3_body">
        <inertial>
          <mass>1.000000</mass>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.200000 20.000000 2.000000</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce />
            <friction>
              <ode />
            </friction>
            <contact>
              <ode />
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.200000 20.000000 2.000000</size>
            </box>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0.000000</linear>
          <angular>0.000000</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <model name="wall_4_model">
      <pose>10.0 0.0 1.0 0.0 0.0 0.0</pose>
      <static>1</static>
      <link name="wall_4_body">
        <inertial>
          <mass>1.000000</mass>
          <inertia>
            <ixx>1.000000</ixx>
            <ixy>0.000000</ixy>
            <ixz>0.000000</ixz>
            <iyy>1.000000</iyy>
            <iyz>0.000000</iyz>
            <izz>1.000000</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.200000 20.000000 2.000000</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce />
            <friction>
              <ode />
            </friction>
            <contact>
              <ode />
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.200000 20.000000 2.000000</size>
            </box>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0.000000</linear>
          <angular>0.000000</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>

    <population name="package_population1">
      <model name='ARBlock1'>
      <link name='link'>
        <pose frame=''>-0 0 0.115 0 -0 0</pose>
        <inertial>
          <mass>0.00522541</mass>
          <inertia>
            <ixx>7.481e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>7.435e-05</iyy>
            <iyz>0</iyz>
            <izz>8.187e-05</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://ARBlock1/materials/scripts</uri>
              <uri>model://ARBlock1/materials/textures</uri>
              <name>ARBlock1/Use</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>-3.09398 0.153138 0 0 -0 0</pose>
    </model>
      <pose>0 0 0 0 0 0</pose>
      <box>
        <size>9 14 0.01</size>
      </box>
      <model_count>1</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <population name="package_population2">
      <model name='ARBlock2'>
      <link name='link'>
        <pose frame=''>-0 0 0.115 0 -0 0</pose>
        <inertial>
          <mass>0.00522541</mass>
          <inertia>
            <ixx>7.481e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>7.435e-05</iyy>
            <iyz>0</iyz>
            <izz>8.187e-05</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://ARBlock2/materials/scripts</uri>
              <uri>model://ARBlock2/materials/textures</uri>
              <name>ARBlock2/Use</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
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          </surface>
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      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
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      <pose>0 0 0 0 0 0</pose>
      <box>
        <size>9 14 0.01</size>
      </box>
      <model_count>1</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <population name="package_population3">
      <model name='ARBlock3'>
      <link name='link'>
        <pose frame=''>-0 0 0.115 0 -0 0</pose>
        <inertial>
          <mass>0.00522541</mass>
          <inertia>
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            <ixz>0</ixz>
            <iyy>7.435e-05</iyy>
            <iyz>0</iyz>
            <izz>8.187e-05</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://ARBlock3/materials/scripts</uri>
              <uri>model://ARBlock3/materials/textures</uri>
              <name>ARBlock3/Use</name>
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            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
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          <surface>
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                <fdir1>0 0 0</fdir1>
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                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
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            <bounce>
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              <threshold>1e+06</threshold>
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            <contact>
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              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
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                <min_depth>0</min_depth>
              </ode>
              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
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    <population name="package_population4">
      <model name='ARBlock4'>
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        <pose frame=''>-0 0 0.115 0 -0 0</pose>
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          <inertia>
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            <izz>8.187e-05</izz>
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          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
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              <uri>model://ARBlock4/materials/textures</uri>
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            <diffuse>1 1 1 1</diffuse>
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            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
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          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
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          <surface>
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                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
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              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
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              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
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              <bullet>
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                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
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      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
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      <pose>0 0 0 0 0 0</pose>
      <box>
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      </box>
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      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <population name="package_population5">
      <model name='ARBlock5'>
      <link name='link'>
        <pose frame=''>-0 0 0.115 0 -0 0</pose>
        <inertial>
          <mass>0.00522541</mass>
          <inertia>
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        <gravity>1</gravity>
        <visual name='visual'>
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              <size>0.5 0.5 0.5</size>
            </box>
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            <emissive>0 0 0 1</emissive>
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          <pose frame=''>0 0 0 0 -0 0</pose>
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        </visual>
        <collision name='collision'>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
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                <mu>1</mu>
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                <use_patch_radius>1</use_patch_radius>
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              </torsional>
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            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
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              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
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                <kp>1e+13</kp>
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      <distribution>
        <type>random</type>
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    <population name="package_population6">
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        <inertial>
          <mass>0.00522541</mass>
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        <self_collide>0</self_collide>
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        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
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              <uri>model://ARBlock6/materials/scripts</uri>
              <uri>model://ARBlock6/materials/textures</uri>
              <name>ARBlock6/Use</name>
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            <shader type='pixel'>
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            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
            <specular>0 0 0 1</specular>
            <emissive>0 0 0 1</emissive>
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          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
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              <size>0.5 0.5 0.5</size>
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            <bounce>
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    <population name="package_population7">
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        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://ARBlock7/materials/scripts</uri>
              <uri>model://ARBlock7/materials/textures</uri>
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            <ambient>1 1 1 1</ambient>
            <diffuse>1 1 1 1</diffuse>
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            <emissive>0 0 0 1</emissive>
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        <collision name='collision'>
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              <size>0.5 0.5 0.5</size>
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    <population name="package_population8">
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        <gravity>1</gravity>
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              <size>0.5 0.5 0.5</size>
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            <ambient>1 1 1 1</ambient>
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            <emissive>0 0 0 1</emissive>
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        <collision name='collision'>
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    <population name="package_population9">
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        <gravity>1</gravity>
        <visual name='visual'>
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            <box>
              <size>0.5 0.5 0.5</size>
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          <material>
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              <uri>model://ARBlock9/materials/scripts</uri>
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            <ambient>1 1 1 1</ambient>
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            <emissive>0 0 0 1</emissive>
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          <cast_shadows>1</cast_shadows>
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        <collision name='collision'>
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    <population name="package_population10">
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        <gravity>1</gravity>
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              <size>0.5 0.5 0.5</size>
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    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-1.14194 -1.54408 1.08123 -0.000359 0.505994 2.57176</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>