model.sdf

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<?xml version='1.0'?>
<sdf version='1.6'>
  <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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </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>
    </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>
      </collision>
      <visual name='Window_5_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>
    </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>
      </collision>
      <visual name='Window_6_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>
    </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>
      </collision>
      <visual name='Window_7_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>
    </link>
    <link name='Window_8'>
      <collision name='Window_8_Collision'>
        <geometry>
          <box>
            <size>1.5 0.17 1.5</size>
          </box>
        </geometry>
        <pose frame=''>0 0 0.75 0 -0 0</pose>
      </collision>
      <visual name='Window_8_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 3 0 -0 0</pose>
    </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>
      </collision>
      <visual name='Window_9_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 3 0 -0 0</pose>
    </link>
    <static>1</static>
  </model>
</sdf>