maze.sdf

<sdf version="1.7">
  <world name="default">
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type="adiabatic"/>
    <physics name="default_physics" default="0" 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>
    <audio>
      <device>default</device>
    </audio>
    <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>
    <light name="sun" type="directional">
      <pose>-0.80127 -1.47128 11.378 0 -0 0</pose>
      <diffuse>155 155 155 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <direction>0.61137 -0.26384 -0.6</direction>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
      <spot>
        <inner_angle>0</inner_angle>
        <outer_angle>0</outer_angle>
        <falloff>0</falloff>
      </spot>
    </light>
    <model name="concretewall1_0">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>1.30669 -4.14375 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_1">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>3.37516 -4.14375 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_2">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>1.34419 -1.23993 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_30">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>-3.57542 2.25292 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_5">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>5.43259 -4.14375 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_6">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>8.27908 -2.95649 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_35">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>1.96683 -5.37531 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_8">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>8.27908 -0.92163 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_9">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>8.27908 1.07951 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_10">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>5.25517 -0.4474 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_11">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>5.2584 1.61765 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_16">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>3.86846 3.04102 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_17">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>1.81901 3.04102 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_14">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>-1.43966 -7.99693 -0.32657 0 -0 1.57</pose>
    </model>
    <model name="concretewall1_19">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>-0.726411 -4.14375 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_4">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose>0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
      <pose>-2.23807 3.04102 -0.32657 0 -0 0</pose>
    </model>
    <model name="concretewall1_31">
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
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              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0">
      <pose>-4.37464 1.14849 -0.32657 0 -0 0</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_0">
      <pose>-8.34828 0.611393 -0.32657 0 -0 0</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_0_0">
      <pose>-7.5691 -2.01402 -0.327 0 -0 1.5708</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_0_0_0">
      <pose>-7.5691 -4.01402 -0.327 0 -0 1.5708</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_0_0_0_0">
      <pose>-7.44051 -6.0892 -0.32657 0 -0 1.5708</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="white_panel_wall_0">
      <pose>-0.546626 -11.3281 -0.32657 0 -0 0</pose>
      <frame name="whitepanelwall::__model__" attached_to="whitepanelwall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="whitepanelwall::body">
        <collision name="whitepanelwall-coll">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="whitepanelwall">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="whitepanelwall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="white_panel_wall_1">
      <pose>1.45337 -11.3281 -0.32657 0 -0 0</pose>
      <frame name="whitepanelwall::__model__" attached_to="whitepanelwall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="whitepanelwall::body">
        <collision name="whitepanelwall-coll">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="whitepanelwall">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://whitepanelwall/meshes/whitepanelwall.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="whitepanelwall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_1">
      <pose>-2.23888 -9.19703 -0.32657 0 -0 0</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_1_0">
      <pose>1.95014 -9.43358 -0.32657 0 0 -1.5708</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_1">
      <pose>-4.23807 3.04102 -0.32657 0 -0 0</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
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          </surface>
        </collision>
        <visual name="concretewall1">
          <cast_shadows>1</cast_shadows>
          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
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        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name="concrete_wall_0_0_0_0_0_0_2">
      <pose>-6.23807 3.04102 -0.32657 0 -0 0</pose>
      <frame name="concretewall::__model__" attached_to="concretewall::body">
        <pose relative_to="__model__">0 0 0 0 -0 0</pose>
      </frame>
      <static>1</static>
      <link name="concretewall::body">
        <collision name="concretewall_COLL">
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>2 0.4 2</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
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            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
        </collision>
        <visual name="concretewall1">
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          <geometry>
            <mesh>
              <uri>model://concretewall1/meshes/concretewall1.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
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        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
        <pose relative_to="concretewall::__model__">0 0 0 0 -0 0</pose>
        <enable_wind>0</enable_wind>
      </link>
    </model>
    <model name='husky_model'>
      <link name='base_link'>
        <collision name='collision'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.0074 0.5709 0.2675</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
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              <ode/>
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          </surface>
        </collision>
        <inertial>
          <mass>33.855</mass>
          <pose>-0.085613 -0.00084 0.238145 0 -0 0</pose>
          <inertia>
            <ixx>2.2343</ixx>
            <ixy>-0.023642</ixy>
            <ixz>0.275174</ixz>
            <iyy>3.42518</iyy>
            <iyz>0.00239624</iyz>
            <izz>2.1241</izz>
          </inertia>
        </inertial>
        <visual name='body'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/body.dae</uri>
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          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='back_left_wheel'>
        <pose>-0.256 0.285475 0.035 0 -0 0</pose>
        <inertial>
          <mass>2.6357</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.0246688</ixx>
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            <ixz>0</ixz>
            <iyy>0.0246688</iyy>
            <iyz>0</iyz>
            <izz>0.0441058</izz>
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        </inertial>
        <collision name='back_left_wheel_collision'>
          <pose>0 0 0 -1.5707 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.17775</radius>
              <length>0.1143</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
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                <mu>100000</mu>
                <mu2>100000</mu2>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
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            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='back_left_wheel'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/wheel.dae</uri>
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          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='back_left_joint' type='revolute'>
        <sensor name='back_left_sensor' type='force_torque'>
          <force_torque/>
        </sensor>
        <parent>base_link</parent>
        <child>back_left_wheel</child>
        <axis>
          <xyz expressed_in='__model__'>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
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          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <provide_feedback>1</provide_feedback>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='back_right_wheel'>
        <pose>-0.256 -0.285475 0.035 0 -0 0</pose>
        <inertial>
          <mass>2.6357</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.0246688</ixx>
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            <iyy>0.0246688</iyy>
            <iyz>0</iyz>
            <izz>0.0441058</izz>
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        </inertial>
        <collision name='back_right_wheel_collision'>
          <pose>0 0 0 -1.5707 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.17775</radius>
              <length>0.1143</length>
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          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
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                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
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            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='back_right_wheel'>
          <pose>0 0 0 -3.14159 0 0</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='back_right_joint' type='revolute'>
        <sensor name='back_right_sensor' type='force_torque'>
          <force_torque/>
        </sensor>
        <parent>base_link</parent>
        <child>back_right_wheel</child>
        <axis>
          <xyz expressed_in='__model__'>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
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          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <provide_feedback>1</provide_feedback>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='front_left_wheel'>
        <pose>0.256 0.285475 0.035 0 -0 0</pose>
        <inertial>
          <mass>2.6357</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.0246688</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0246688</iyy>
            <iyz>0</iyz>
            <izz>0.0441058</izz>
          </inertia>
        </inertial>
        <collision name='front_left_wheel_collision'>
          <pose>0 0 0 -1.5707 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.17775</radius>
              <length>0.1143</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_left_wheel'>
          <pose>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_left_joint' type='revolute'>
        <sensor name='front_left_sensor' type='force_torque'>
          <force_torque/>
        </sensor>
        <parent>base_link</parent>
        <child>front_left_wheel</child>
        <axis>
          <xyz expressed_in='__model__'>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <provide_feedback>1</provide_feedback>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='front_right_wheel'>
        <pose>0.256 -0.285475 0.035 0 -0 0</pose>
        <inertial>
          <mass>2.6357</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.0246688</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0246688</iyy>
            <iyz>0</iyz>
            <izz>0.0441058</izz>
          </inertia>
        </inertial>
        <collision name='front_right_wheel_collision'>
          <pose>0 0 0 -1.5707 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.17775</radius>
              <length>0.1143</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100000</mu>
                <mu2>100000</mu2>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_right_wheel'>
          <pose>0 0 0 -3.14159 0 0</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_right_joint' type='revolute'>
        <sensor name='front_right_sensor' type='force_torque'>
          <force_torque/>
        </sensor>
        <parent>base_link</parent>
        <child>front_right_wheel</child>
        <axis>
          <xyz expressed_in='__model__'>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
        <physics>
          <provide_feedback>1</provide_feedback>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='eye_vision_camera'>
        <pose>-0.16 0 0.23 0 -0 0</pose>
        <collision name='eye_vision_camera_collision'>
          <pose>0 0 0.08 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.15</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='eye_vision_camera'>
          <pose>0 0 0 1.5708 0 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://husky_model/meshes/eye_vision_camera.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <sensor name='camera' type='camera'>
          <pose>0 0 0.132 0 -0 0</pose>
          <topic>/husky/camera</topic>
          <camera>
            <horizontal_fov>1.57</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>1</visualize>
          <plugin name='mouse_right_eye' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>30.0</updateRate>
            <cameraName>husky</cameraName>
            <imageTopicName>camera</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>camera_link</frameName>
            <hackBaseline>0.07</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
            <robotNamespace>husky_model</robotNamespace>
          </plugin>
        </sensor>
        <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>
      <joint name='eye_vision_camera_joint' type='revolute'>
        <parent>base_link</parent>
        <child>eye_vision_camera</child>
        <axis>
          <xyz expressed_in='__model__'>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <plugin name='husky_diff_controller' filename='libhusky_gazebo_plugins.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>100.0</updateRate>
        <backLeftJoint>back_left_joint</backLeftJoint>
        <backRightJoint>back_right_joint</backRightJoint>
        <frontLeftJoint>front_left_joint</frontLeftJoint>
        <frontRightJoint>front_right_joint</frontRightJoint>
        <wheelSeparation>0.5709</wheelSeparation>
        <wheelDiameter>0.3555</wheelDiameter>
        <torque>35</torque>
        <robotNamespace>husky_model</robotNamespace>
      </plugin>
      <pose>1.33815 -2.528 1.084 0 -0 0</pose>
    </model>
  </world>
</sdf>