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Mar 26th, 2018
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  1. <?xml version="1.0"?>
  2. <sdf version="1.4">
  3.   <world name="default">
  4.     <include>
  5.       <uri>model://ground_plane</uri>
  6.     </include>
  7.     <include>
  8.       <uri>model://sun</uri>
  9.     </include>
  10.     <model name="wall">
  11.       <pose>0 0 0 0 0 0</pose>
  12.       <static>true</static>
  13.       <link name="body">
  14.         <visual name="visual">
  15.           <geometry>
  16.             <mesh><uri>file://wall.dae</uri></mesh>
  17.           </geometry>
  18.         </visual>
  19.       </link>
  20.     </model>
  21.     <model name="pillar">
  22.       <pose>0.18 0 0 0 0 0</pose>
  23.       <static>true</static>
  24.       <link name="body">
  25.         <visual name="visual">
  26.           <geometry>
  27.             <mesh><uri>file://pillar.dae</uri></mesh>
  28.           </geometry>
  29.         </visual>
  30.       </link>
  31.     </model>
  32.     <model name="pillar">
  33.       <pose>-0.18 0 0 0 0 0</pose>
  34.       <static>true</static>
  35.       <link name="body">
  36.         <visual name="visual">
  37.           <geometry>
  38.             <mesh><uri>file://pillar.dae</uri></mesh>
  39.           </geometry>
  40.         </visual>
  41.       </link>
  42.     </model>
  43.     <model name="wall">
  44.       <pose>-0.18 0.18 0 0 0 1.57079633</pose>
  45.       <static>true</static>
  46.       <link name="body">
  47.         <visual name="visual">
  48.           <geometry>
  49.             <mesh><uri>file://wall.dae</uri></mesh>
  50.           </geometry>
  51.         </visual>
  52.       </link>
  53.     </model>
  54.     <model name="wall">
  55.       <pose>0.18 0.18 0 0 0 1.57079633</pose>
  56.       <static>true</static>
  57.       <link name="body">
  58.         <visual name="visual">
  59.           <geometry>
  60.             <mesh><uri>file://wall.dae</uri></mesh>
  61.           </geometry>
  62.         </visual>
  63.       </link>
  64.     </model>
  65.     <model name="pillar">
  66.       <pose>-0.18 0.36 0 0 0 0</pose>
  67.       <static>true</static>
  68.       <link name="body">
  69.         <visual name="visual">
  70.           <geometry>
  71.             <mesh><uri>file://pillar.dae</uri></mesh>
  72.           </geometry>
  73.         </visual>
  74.       </link>
  75.     </model>
  76.     <model name="pillar">
  77.       <pose>0.18 0.36 0 0 0 0</pose>
  78.       <static>true</static>
  79.       <link name="body">
  80.         <visual name="visual">
  81.           <geometry>
  82.             <mesh><uri>file://pillar.dae</uri></mesh>
  83.           </geometry>
  84.         </visual>
  85.       </link>
  86.     </model>
  87.     <model name="wall">
  88.       <pose>0. 0.36 0 0 0 0</pose>
  89.       <static>true</static>
  90.       <link name="body">
  91.         <visual name="visual">
  92.           <geometry>
  93.             <mesh><uri>file://wall.dae</uri></mesh>
  94.           </geometry>
  95.         </visual>
  96.       </link>
  97.     </model>
  98.   </world>
  99. </sdf>
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