test1.world

<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='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/DarkGrey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics 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>
    <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>
    <state world_name='default'>
      <sim_time>969 856000000</sim_time>
      <real_time>35 310557414</real_time>
      <wall_time>1501188419 971564847</wall_time>
      <iterations>34976</iterations>
      <model name='biscuits'>
        <pose frame=''>0.54 -0.24 0.609995 1e-06 -3e-06 -0.8</pose>
        <scale>1 1 1</scale>
        <link name='biscuits_link'>
          <pose frame=''>0.54 -0.24 0.609995 1e-06 -3e-06 -0.8</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -0.98 0 -0 0</wrench>
        </link>
      </model>
      <model name='dropbox'>
        <pose frame=''>0 -0.71 0.605 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0 -0.71 0.605 0 0 -1.56873</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='dropbox_clone'>
        <pose frame=''>0 0.71 0.605 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0 0.71 0.605 0 0 -1.56873</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='short_table'>
        <pose frame=''>0.6 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0.6 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='short_table_clone'>
        <pose frame=''>0 -0.7 0 0 -0 1.57</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0 -0.7 0 0 -0 1.57</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='short_table_clone_0'>
        <pose frame=''>0 0.7 0 0 -0 1.57</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0 0.7 0 0 -0 1.57</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='soap'>
        <pose frame=''>0.56 0 0.609997 1.2e-05 -1.6e-05 -1.35</pose>
        <scale>1 1 1</scale>
        <link name='soap_link'>
          <pose frame=''>0.56 0 0.609997 1.2e-05 -1.6e-05 -1.35</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -0.784 0 -0 0</wrench>
        </link>
      </model>
      <model name='soap2'>
        <pose frame=''>0.46 0.22 0.612499 6.5e-05 3.2e-05 0</pose>
        <scale>1 1 1</scale>
        <link name='soap2_link'>
          <pose frame=''>0.46 0.22 0.612499 6.5e-05 3.2e-05 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -0.784 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-1.94991 0.159849 2.02995 0 0.5426 -0.010274</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='dropbox'>
      <link name='link_0'>
        <pose frame=''>0 -0 0 0 0 -1.56873</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://dropbox/meshes/dropbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0 0.3 0.3 1</ambient>
            <diffuse>0 0.7 0.7 1</diffuse>
            <specular>0 0.01 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://dropbox/meshes/dropbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>-0.000641 -0.602849 0 0 -0 0</pose>
    </model>
    <model name='dropbox_clone'>
      <link name='link_0'>
        <pose frame=''>0 -0 0 0 0 -1.56873</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://dropbox/meshes/dropbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>0.3 0 0.1 1</ambient>
            <diffuse>0.7 0 0.2 1</diffuse>
            <specular>0.01 0 0.01 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://dropbox/meshes/dropbox.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.190807 0.649933 0 0 -0 0</pose>
    </model>
    <model name='short_table'>
      <link name='link_0'>
        <pose frame=''>-0 0 0 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/DarkGray</name>
            </script>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.688426 0.117322 0 0 -0 0</pose>
    </model>
    <model name='short_table_clone'>
      <link name='link_0'>
        <pose frame=''>-0 0 0 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/DarkGray</name>
            </script>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.313898 0.939936 0 0 -0 0</pose>
    </model>
    <model name='short_table_clone_0'>
      <link name='link_0'>
        <pose frame=''>-0 0 0 0 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/DarkGray</name>
            </script>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://short_table/meshes/short_table.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <static>1</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.21415 -0.916385 0 0 -0 0</pose>
    </model>
    <model name='biscuits'>
      <link name='biscuits_link'>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='biscuits_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <material>
            <script>
              <uri>model://biscuits/materials/scripts</uri>
              <uri>model://biscuits/materials/textures</uri>
              <name>biscuits</name>
            </script>
          </material>
          <geometry>
            <mesh>
              <uri>model://biscuits/meshes/biscuits.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='biscuits_collision'>
          <pose frame=''>0.015 0.01 0.075 0 -0 2.2</pose>
          <geometry>
            <box>
              <size>0.19 0.06 0.15</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>0.91979 0.598036 0 0 -0 0</pose>
    </model>
    <model name='soap'>
      <link name='soap_link'>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.08</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='soap_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <material>
            <script>
              <uri>model://soap/materials/scripts</uri>
              <uri>model://soap/materials/textures</uri>
              <name>soap</name>
            </script>
          </material>
          <geometry>
            <mesh>
              <uri>model://soap/meshes/soap.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='soap_collision'>
          <pose frame=''>0.02 0.002 0.05 0 0 -1.05</pose>
          <geometry>
            <box>
              <size>0.14 0.065 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>0.463148 0.568213 0 0 -0 0</pose>
    </model>
    <model name='soap2'>
      <link name='soap2_link'>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.08</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='soap2_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <material>
            <script>
              <uri>model://soap2/materials/scripts</uri>
              <uri>model://soap2/materials/textures</uri>
              <name>soap2</name>
            </script>
          </material>
          <geometry>
            <mesh>
              <uri>model://soap2/meshes/soap2.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='soap2_collision'>
          <pose frame=''>-0.002 0.00502 0.05 0 0 -1</pose>
          <geometry>
            <box>
              <size>0.065 0.04 0.105</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>0.277982 0.319978 0 0 -0 0</pose>
    </model>
  </world>
</sdf>