j153.world

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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='asphalt_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>30 30 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>30 30 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>
    <model name='j_building'>
      <pose frame=''>0 -7.5 0 0 -0 0</pose>
      <link name='Door_2'>
        <collision name='Door_2_Collision'>
          <geometry>
            <box>
              <size>2 0.17 3</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.5 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Door_2_Visual'>
          <pose frame=''>0 0 1.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 3</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-1 2.55 0 0 -0 3.13771</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Door_3'>
        <collision name='Door_3_Collision'>
          <geometry>
            <box>
              <size>2 0.17 3</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1.5 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Door_3_Visual'>
          <pose frame=''>0 0 1.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 3</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>1 2.55 0 0 -0 3.13969</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Floor_1'>
        <collision name='Floor_1_Collision'>
          <geometry>
            <box>
              <size>21 6 0.1</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_1_Visual'>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 6 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_10'>
        <collision name='Wall_10_Collision'>
          <geometry>
            <box>
              <size>21 6 0.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_10_Visual'>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 6 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.435294 0.796078 0.67451 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_7'>
        <collision name='Wall_7_Collision'>
          <geometry>
            <box>
              <size>20 5 5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_7_Visual'>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>20 5 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_6'>
        <collision name='Window_6_Collision'>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_6_Visual'>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-7 2.55 1 0 -0 3.13833</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_7'>
        <collision name='Window_7_Collision'>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_7_Visual'>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-5 2.55 1 0 -0 3.14106</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_8'>
        <collision name='Window_8_Collision'>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_8_Visual'>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>5 2.55 1 0 0 -3.13877</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_9'>
        <collision name='Window_9_Collision'>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_9_Visual'>
          <pose frame=''>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.17 2</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>7 2.55 1 0 0 -3.13955</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
    </model>
    <model name='k_building'>
      <pose frame=''>0 8.5 0 0 -0 0</pose>
      <link name='Floor_0'>
        <collision name='Floor_0_Collision'>
          <geometry>
            <box>
              <size>21 4 0.1</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_0_Visual'>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 4 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_0'>
        <collision name='Wall_0_Collision'>
          <geometry>
            <box>
              <size>20 3 5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_0_Visual'>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>20 3 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_3'>
        <collision name='Wall_3_Collision'>
          <geometry>
            <box>
              <size>21 4 0.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_3_Visual'>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 4 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.435294 0.796078 0.67451 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_0'>
        <collision name='Window_0_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_0_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-7 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_1'>
        <collision name='Window_1_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_1_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-5.5 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_10'>
        <collision name='Window_10_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_10_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>5.5 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_11'>
        <collision name='Window_11_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_11_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>7 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_2'>
        <collision name='Window_2_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_2_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-0.75 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_3'>
        <collision name='Window_3_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_3_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>0.75 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_4'>
        <collision name='Window_4_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Window_4_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>5.5 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_5'>
        <collision name='Window_5_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
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          </material>
        </visual>
        <visual name='base_link_fixed_joint_lump__wing2_visual_6'>
          <pose frame=''>0.047923 0 -0.040247 -0 -0 -0.785398</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/wing2.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/White</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_fixed_joint_lump__wing3_visual_7'>
          <pose frame=''>0.258426 -0.104255 -0.040247 -0 -0 -1.8326</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/wing3.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/White</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_fixed_joint_lump__wing4_visual_8'>
          <pose frame=''>-0.02299 0.043307 -0.040247 0 -0 1.309</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/wing4.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Red</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_fixed_joint_lump__wing5_visual_9'>
          <pose frame=''>-0.025144 -0.042063 -0.040247 0 -0 -2.87979</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/wing5.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/White</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <visual name='base_link_fixed_joint_lump__wing6_visual_10'>
          <pose frame=''>-0.039136 0.274809 -0.040247 0 -0 0.261799</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/wing6.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Red</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='/imu_link'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.015</mass>
          <inertia>
            <ixx>1e-05</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1e-05</iyy>
            <iyz>0</iyz>
            <izz>1e-05</izz>
          </inertia>
        </inertial>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='/imu_joint' type='revolute'>
        <child>/imu_link</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0.01 -0.01 0.01</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
            <effort>0</effort>
            <velocity>0</velocity>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop1'>
        <pose frame=''>-0.274 -0 0.019486 0 -0 0.435599</pose>
        <inertial>
          <pose frame=''>0 0 0.007853 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop1_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop1.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop1_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop1.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p1' type='revolute'>
        <child>prop1</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop2'>
        <pose frame=''>0.272923 -0 0.019486 0 -0 0</pose>
        <inertial>
          <pose frame=''>-1e-06 0 0.007851 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop2_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop2.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop2_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop2.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p2' type='revolute'>
        <child>prop2</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop3'>
        <pose frame=''>0.138018 -0.236703 0.019486 0 -0 0</pose>
        <inertial>
          <pose frame=''>0 0 0.007853 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop3_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop3.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop3_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop3.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p3' type='revolute'>
        <child>prop3</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop4'>
        <pose frame=''>-0.13549 0.238163 0.019486 0 -0 0</pose>
        <inertial>
          <pose frame=''>-1e-06 0 0.007851 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop4_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop4.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop4_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop4.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Orange</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p4' type='revolute'>
        <child>prop4</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop5'>
        <pose frame=''>-0.137644 -0.236919 0.019486 0 -0 0.405113</pose>
        <inertial>
          <pose frame=''>-1e-06 0 0.007851 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop5_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop5.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop5_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop5.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Black</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p5' type='revolute'>
        <child>prop5</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='prop6'>
        <pose frame=''>0.135771 0.236757 0.019486 0 -0 -2.44439</pose>
        <inertial>
          <pose frame=''>1e-06 -0 0.007853 0 -0 0</pose>
          <mass>0.0091837</mass>
          <inertia>
            <ixx>3.009e-07</ixx>
            <ixy>1.5042e-07</ixy>
            <ixz>5.8166e-13</ixz>
            <iyy>3.4024e-05</iyy>
            <iyz>-7.7721e-14</iyz>
            <izz>3.4239e-05</izz>
          </inertia>
        </inertial>
        <collision name='prop6_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop6.STL</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='prop6_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>model://f550_rd_basic_v1/meshes/prop6.STL</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Orange</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='p6' type='revolute'>
        <child>prop6</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <plugin name='rosbag' filename='librotors_gazebo_multirotor_base_plugin.so'>
        <robotNamespace/>
        <linkName>base_link</linkName>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop1_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p1</jointName>
        <linkName>prop1</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>0</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop2_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p2</jointName>
        <linkName>prop2</linkName>
        <turningDirection>ccw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>1</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop3_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p3</jointName>
        <linkName>prop3</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>2</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop4_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p4</jointName>
        <linkName>prop4</linkName>
        <turningDirection>ccw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>3</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop5_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p5</jointName>
        <linkName>prop5</linkName>
        <turningDirection>ccw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>4</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='prop6_model' filename='librotors_gazebo_motor_model.so'>
        <robotNamespace/>
        <jointName>p6</jointName>
        <linkName>prop6</linkName>
        <turningDirection>cw</turningDirection>
        <timeConstantUp>0.0125</timeConstantUp>
        <timeConstantDown>0.025</timeConstantDown>
        <maxRotVelocity>1500</maxRotVelocity>
        <motorConstant>8.54858e-06</motorConstant>
        <momentConstant>0.06</momentConstant>
        <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
        <motorNumber>5</motorNumber>
        <rotorDragCoefficient>0.000806428</rotorDragCoefficient>
        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
        <motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
      </plugin>
      <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
        <robotNamespace/>
        <gpsNoise>false</gpsNoise>
      </plugin>
      <plugin name='mavlink_interface' filename='librotors_gazebo_mavlink_interface.so'>
        <robotNamespace/>
        <imuSubTopic>/imu</imuSubTopic>
        <gpsSubTopic>/gps</gpsSubTopic>
        <mavlink_addr>INADDR_ANY</mavlink_addr>
        <mavlink_udp_port>14560</mavlink_udp_port>
        <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
        <control_channels>
          <channel name='rotor1'>
            <input_index>0</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p1</joint_name>
          </channel>
          <channel name='rotor2'>
            <input_index>1</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p2</joint_name>
          </channel>
          <channel name='rotor3'>
            <input_index>2</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p3</joint_name>
          </channel>
          <channel name='rotor4'>
            <input_index>3</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p4</joint_name>
          </channel>
          <channel name='rotor5'>
            <input_index>4</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p5</joint_name>
          </channel>
          <channel name='rotor6'>
            <input_index>5</input_index>
            <input_offset>0</input_offset>
            <input_scaling>1000</input_scaling>
            <zero_position_disarmed>0</zero_position_disarmed>
            <zero_position_armed>100</zero_position_armed>
            <joint_control_type>velocity</joint_control_type>
            <joint_name>p6</joint_name>
          </channel>
        </control_channels>
      </plugin>
      <static>0</static>
      <plugin name='rotors_gazebo_imu_plugin' filename='librotors_gazebo_imu_plugin.so'>
        <robotNamespace/>
        <linkName>/imu_link</linkName>
        <imuTopic>/imu</imuTopic>
        <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
        <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
        <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
        <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
        <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
        <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
        <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
        <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
      </plugin>
      <pose frame=''>0 0 0 0 -0 3.14</pose>
    </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='k_building_clone'>
      <pose frame=''>-0.013988 10.8554 0 0 -0 0</pose>
      <link name='Floor_0'>
        <collision name='Floor_0_Collision'>
          <geometry>
            <box>
              <size>21 4 0.1</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_0_Visual'>
          <pose frame=''>0 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 4 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_0'>
        <collision name='Wall_0_Collision'>
          <geometry>
            <box>
              <size>20 3 5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_0_Visual'>
          <pose frame=''>0 0 2.5 0 -0 0</pose>
          <geometry>
            <box>
              <size>20 3 5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Wall_3'>
        <collision name='Wall_3_Collision'>
          <geometry>
            <box>
              <size>21 4 0.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Wall_3_Visual'>
          <pose frame=''>0 0 0.25 0 -0 0</pose>
          <geometry>
            <box>
              <size>21 4 0.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/CeilingTiled</name>
            </script>
            <ambient>0.435294 0.796078 0.67451 1</ambient>
          </material>
        </visual>
        <pose frame=''>0 0 5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_0'>
        <collision name='Window_0_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
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            <bounce/>
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        </collision>
        <visual name='Window_0_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-7 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_1'>
        <collision name='Window_1_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
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                <ode/>
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              <ode/>
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          </surface>
        </collision>
        <visual name='Window_1_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
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          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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          </material>
        </visual>
        <pose frame=''>-5.5 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_10'>
        <collision name='Window_10_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
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          </surface>
        </collision>
        <visual name='Window_10_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>5.5 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_11'>
        <collision name='Window_11_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
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          </surface>
        </collision>
        <visual name='Window_11_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
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          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>7 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_2'>
        <collision name='Window_2_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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        </collision>
        <visual name='Window_2_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>-0.75 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_3'>
        <collision name='Window_3_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
        </collision>
        <visual name='Window_3_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
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            </script>
          </material>
        </visual>
        <pose frame=''>0.75 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_4'>
        <collision name='Window_4_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
        </collision>
        <visual name='Window_4_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose frame=''>5.5 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_5'>
        <collision name='Window_5_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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              <torsional>
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              <ode/>
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        </collision>
        <visual name='Window_5_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
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        </visual>
        <pose frame=''>7 -1.55 0.5 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_6'>
        <collision name='Window_6_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
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              <torsional>
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        <visual name='Window_6_Visual'>
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          <geometry>
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        </visual>
        <pose frame=''>-7 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_7'>
        <collision name='Window_7_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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        <visual name='Window_7_Visual'>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <geometry>
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        </visual>
        <pose frame=''>-5.5 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_8'>
        <collision name='Window_8_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
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          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
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          <surface>
            <contact>
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        <visual name='Window_8_Visual'>
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        <pose frame=''>-0.75 -1.55 3 0 -0 0</pose>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='Window_9'>
        <collision name='Window_9_Collision'>
          <geometry>
            <box>
              <size>1.5 0.17 1.5</size>
            </box>
          </geometry>
          <pose frame=''>0 0 0.75 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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        <kinematic>0</kinematic>
      </link>
      <static>1</static>
    </model>
    <model name='info_building_clone'>
      <pose frame=''>-15.7689 16.3149 0 0 -0 0</pose>
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        <collision name='Door_1_Collision'>
          <geometry>
            <box>
              <size>5 0.17 3</size>
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          <pose frame=''>0 0 1.5 0 -0 0</pose>
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