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<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>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</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>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>
</link>
</model>
<model name='asphalt_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<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>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
</physics>
<gravity>0 0 -9.8066</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<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='asphalt_plane_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>0.013817 -19.9057 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.044763 19.8547 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.9542 19.8571 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.8746 -0.016199 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.9582 -19.9369 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.9909 -19.9252 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_5'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.954 0.062585 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_6'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.9182 19.9182 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_7'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>40.0111 -19.9805 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_8'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7739 -0.180821 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_9'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7142 19.7483 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_10'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.7155 -19.9826 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_11'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.5056 -0.554758 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_12'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.7223 19.4825 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_13'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.6505 -39.9751 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_14'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7473 -39.8277 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_15'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.8523 -39.7982 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_16'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.244115 -39.7166 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_17'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-20.1655 -39.5155 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_14_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
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<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Branch</name>
</script>
</material>
</visual>
<visual name='bark'>
<geometry>
<mesh>
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
<submesh>
<name>Bark</name>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Bark</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.582285 -8.07687 0 0 -0 0</pose>
</model>
<model name='oak_tree_0_clone_8'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='branch'>
<geometry>
<mesh>
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
<submesh>
<name>Branch</name>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Branch</name>
</script>
</material>
</visual>
<visual name='bark'>
<geometry>
<mesh>
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
<submesh>
<name>Bark</name>
</submesh>
</mesh>
</geometry>
<material>
<script>
<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Bark</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-3.34649 10.5704 0 0 -0 0</pose>
</model>
<model name='apartment'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://apartment/meshes/apartment.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://apartment/meshes/apartment.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>57.9286 -1.84287 0 0 -0 0</pose>
</model>
<model name='brick_box_3x1x3'>
<static>1</static>
<link name='chassis'>
<pose frame=''>0 0 1.5 0 -0 0</pose>
<collision name='collision'>
<geometry>
<box>
<size>3 1 3</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://brick_box_3x1x3/meshes/simple_box.dae</uri>
<scale>3 1 3</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://brick_box_3x1x3/materials/scripts</uri>
<uri>model://brick_box_3x1x3/materials/textures</uri>
<name>BrickBox/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>4.87457 0.315548 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>996 332000000</sim_time>
<real_time>36 844161802</real_time>
<wall_time>1559810121 123555549</wall_time>
<iterations>18347</iterations>
<model name='House 1'>
<pose frame=''>17.5745 16.149 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>17.5745 16.149 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>
<model name='House 2'>
<pose frame=''>15.8963 -22.6544 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>15.8963 -22.6544 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>
<model name='House 3'>
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<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>2.37464 -21.1663 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>
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</model>
<model name='apartment'>
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<scale>1 1 1</scale>
<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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</link>
</model>
<model name='asphalt_plane'>
<pose frame=''>0.068429 -0.104653 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0.068429 -0.104653 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>
<model name='asphalt_plane_clone'>
<pose frame=''>0.013817 -19.9057 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
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<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='asphalt_plane_clone_0'>
<pose frame=''>-0.044763 19.8547 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.044763 19.8547 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>
<model name='asphalt_plane_clone_1'>
<pose frame=''>19.9542 19.8571 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='asphalt_plane_clone_10'>
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<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>59.7155 -19.9826 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>
<model name='asphalt_plane_clone_11'>
<pose frame=''>59.861 -0.148742 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>59.861 -0.148742 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>
<model name='asphalt_plane_clone_12'>
<pose frame=''>59.7223 19.4825 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>59.7223 19.4825 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>
<model name='asphalt_plane_clone_13'>
<pose frame=''>59.6505 -39.9751 0 0 -0 0</pose>
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<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='asphalt_plane_clone_14'>
<pose frame=''>39.7473 -39.8277 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>39.7473 -39.8277 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>
<model name='asphalt_plane_clone_14_clone'>
<pose frame=''>-19.8427 39.7251 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-19.8427 39.7251 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>
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</model>
<model name='asphalt_plane_clone_14_clone_0'>
<pose frame=''>-0.255749 39.7463 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.255749 39.7463 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='asphalt_plane_clone_14_clone_1'>
<pose frame=''>19.4503 39.8337 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>19.4503 39.8337 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>
<model name='asphalt_plane_clone_14_clone_2'>
<pose frame=''>39.491 39.7544 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>39.491 39.7544 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>
<model name='asphalt_plane_clone_14_clone_3'>
<pose frame=''>59.4529 39.3338 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>59.4529 39.3338 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>
<model name='asphalt_plane_clone_15'>
<pose frame=''>19.8523 -39.7982 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>19.8523 -39.7982 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>
<model name='asphalt_plane_clone_16'>
<pose frame=''>-0.244115 -39.7166 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.244115 -39.7166 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>
<model name='asphalt_plane_clone_17'>
<pose frame=''>-20.1655 -39.5155 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-20.1655 -39.5155 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>
<model name='asphalt_plane_clone_2'>
<pose frame=''>19.8746 -0.016199 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>19.8746 -0.016199 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>
<model name='asphalt_plane_clone_3'>
<pose frame=''>19.9582 -19.9369 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='asphalt_plane_clone_4'>
<pose frame=''>-19.9909 -19.9252 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-19.9909 -19.9252 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>
<model name='asphalt_plane_clone_5'>
<pose frame=''>-19.954 0.062585 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
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<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='asphalt_plane_clone_6'>
<pose frame=''>-19.9182 19.9182 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-19.9182 19.9182 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>
<model name='asphalt_plane_clone_7'>
<pose frame=''>40.0111 -19.9805 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>40.0111 -19.9805 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>
<model name='asphalt_plane_clone_8'>
<pose frame=''>39.7739 -0.180821 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>39.7739 -0.180821 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>
<model name='asphalt_plane_clone_9'>
<pose frame=''>39.7142 19.7483 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>39.7142 19.7483 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>
<model name='brick_box_3x1x3'>
<pose frame=''>4.8502 -0.069314 -5e-06 -0.00048 0.010014 -1.58269</pose>
<scale>1 1 1</scale>
<link name='chassis'>
<pose frame=''>4.85074 -0.084342 1.49992 -0.00048 0.010014 -1.58269</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>
<scale>1 1 1</scale>
<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>
<model name='oak_tree'>
<pose frame=''>22.2474 -10.6367 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>22.2474 -10.6367 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>
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</model>
<model name='oak_tree_0'>
<pose frame=''>7.23117 7.8776 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>7.23117 7.8776 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>
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</model>
<model name='oak_tree_0_clone_0'>
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<scale>1 1 1</scale>
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<pose frame=''>18.8868 4.98482 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>
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</model>
<model name='oak_tree_0_clone_1'>
<pose frame=''>31.0467 4.15034 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
<model name='oak_tree_0_clone_2'>
<pose frame=''>21.3252 -1.06392 0 0 -0 0</pose>
<scale>1 1 1</scale>
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<pose frame=''>21.3252 -1.06392 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>
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</model>
<model name='oak_tree_0_clone_3'>
<pose frame=''>38.585 -9.89518 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>38.585 -9.89518 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>
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</model>
<model name='oak_tree_0_clone_4'>
<pose frame=''>43.0702 3.3764 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>43.0702 3.3764 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='oak_tree_0_clone_5'>
<pose frame=''>34.6537 -2.8256 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>34.6537 -2.8256 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>
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</model>
<model name='oak_tree_0_clone_6'>
<pose frame=''>51.9016 -18.7744 0 0 -0 0</pose>
<scale>1 1 1</scale>
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<pose frame=''>51.9016 -18.7744 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>
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</model>
<model name='oak_tree_0_clone_7'>
<pose frame=''>-0.582285 -8.07687 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.582285 -8.07687 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>
<model name='oak_tree_0_clone_8'>
<pose frame=''>-3.34649 10.5704 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-3.34649 10.5704 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>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>-21.9775 2.19234 20.7916 0 0.563642 0.004195</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
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