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cps_rmp220_support/worlds/obstacles.world

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<sdf version='1.7'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>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>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</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>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<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>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics 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>
<wind/>
<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='Construction Barrel'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.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://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.756237 1.39226 0 0 -0 0</pose>
</model>
<model name='Construction Barrel_0'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.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://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>1.80022 0.377178 0 0 -0 0</pose>
</model>
<model name='Construction Cone'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-2.19745 -2.25046 0 0 -0 0</pose>
</model>
<model name='Construction Cone_0'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-1.40494 -2.55135 0 0 -0 0</pose>
</model>
<model name='Construction Cone_1'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.501986 -2.9745 0 0 -0 0</pose>
</model>
<model name='Construction Cone_2'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2.09724 -2.18232 0 0 -0 0</pose>
</model>
<model name='Construction Cone_3'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-3.69879 0.345038 0 0 -0 0</pose>
</model>
<model name='Construction Cone_4'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-0.406438 -4.23374 0 0 -0 0</pose>
</model>
<model name='Construction Cone_5'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
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<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
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<ixz>0</ixz>
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<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2.38815 -3.2576 0 0 -0 0</pose>
</model>
<model name='Construction Cone_6'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
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<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
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<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>2.39316 -4.49605 0 0 -0 0</pose>
</model>
<model name='Construction Cone_7'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.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>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
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<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-3.00495 -2.78053 0 0 -0 0</pose>
</model>
<model name='Construction Cone_8'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<scale>10 10 10</scale>
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
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<ode/>
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<ode/>
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</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
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<uri>model://construction_cone/meshes/construction_cone.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
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</inertia>
<mass>1</mass>
</inertial>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-4.64786 -0.646522 0 0 -0 0</pose>
</model>
<model name='Construction Barrel_1'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
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<izz>25</izz>
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<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
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<bounce/>
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</torsional>
<ode/>
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</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
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</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<pose>-5.3108 -2.23708 0 0 -0 0</pose>
</model>
<model name='Construction Barrel_2'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
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</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
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</collision>
<visual name='visual'>
<geometry>
<mesh>
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</mesh>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
</link>
<pose>-2.07692 -4.26198 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>457 444000000</sim_time>
<real_time>459 829915274</real_time>
<wall_time>1646216792 728719362</wall_time>
<iterations>457444</iterations>
<model name='Construction Barrel'>
<pose>-0.756319 1.39223 0 0 0 -2.4e-05</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-0.756319 1.39223 0 0 0 -2.4e-05</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>3.45865 5.7443 4.40608 1.34644 0.778762 3.14097</acceleration>
<wrench>1729.32 2872.15 2203.04 0 -0 0</wrench>
</link>
</model>
<model name='Construction Barrel_0'>
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<scale>1 1 1</scale>
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<pose>1.80014 0.377148 0 0 0 -2.2e-05</pose>
<velocity>0 0 0 0 -0 0</velocity>
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<wrench>1729.32 2872.15 2203.04 0 -0 0</wrench>
</link>
</model>
<model name='Construction Barrel_1'>
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<scale>1 1 1</scale>
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<pose>-5.31082 -2.23709 -0 0 -0 -7e-06</pose>
<velocity>0 0 0 0 -0 0</velocity>
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<wrench>-1938.71 -1446.8 363.922 0 -0 0</wrench>
</link>
</model>
<model name='Construction Barrel_2'>
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<scale>1 1 1</scale>
<link name='link'>
<pose>-2.07693 -4.26199 -0 0 0 -4e-06</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>7.60795 0.965639 1.20183 -2.41278 0.170207 0.001195</acceleration>
<wrench>3803.98 482.819 600.916 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone'>
<pose>-2.19745 -2.25046 -0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-2.19745 -2.25046 -0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
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</link>
</model>
<model name='Construction Cone_0'>
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<scale>1 1 1</scale>
<link name='link'>
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<wrench>0 -0 -0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_1'>
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<scale>1 1 1</scale>
<link name='link'>
<pose>-0.501986 -2.9745 -0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 -0 -0.008512 -2.58585 1.13682 3.14159</acceleration>
<wrench>0 -0 -0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_2'>
<pose>2.09724 -2.18232 -0 1e-06 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>2.09724 -2.18232 -0 1e-06 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0 -0 -9.79988 3e-05 2e-05 -0</acceleration>
<wrench>-0 -0 -9.79988 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_3'>
<pose>-3.69879 0.345038 -1e-05 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-3.69879 0.345038 -1e-05 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 -9.8 0 -0 0</acceleration>
<wrench>0 0 -9.8 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_4'>
<pose>-0.406438 -4.23374 -0 0 -1e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-0.406438 -4.23374 -0 0 -1e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0 0 0.008512 2.58585 -1.13682 -3.14159</acceleration>
<wrench>-0 0 0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_5'>
<pose>2.38815 -3.2576 -0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>2.38815 -3.2576 -0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 -0 -0.008512 -2.58585 1.13682 3.14159</acceleration>
<wrench>0 -0 -0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_6'>
<pose>2.39316 -4.49605 -0 0 -1e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>2.39316 -4.49605 -0 0 -1e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0 0 0.008512 2.58585 -1.13682 -3.14159</acceleration>
<wrench>-0 0 0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_7'>
<pose>-3.00495 -2.78053 -0 0 -1e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-3.00495 -2.78053 -0 0 -1e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0 0 0.008512 2.58585 -1.13682 -3.14159</acceleration>
<wrench>-0 0 0.008512 0 -0 0</wrench>
</link>
</model>
<model name='Construction Cone_8'>
<pose>-4.64786 -0.646522 -0 0 -1e-06 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>-4.64786 -0.646522 -0 0 -1e-06 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-0 0 0.008512 2.58585 -1.13682 -3.14159</acceleration>
<wrench>-0 0 0.008512 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose>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>
<light name='sun'>
<pose>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-15.5892 0.392985 21.6628 0 0.851642 0.028194</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
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