test

<sdf version='1.5'>
  <world name='vrc_task_1'>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-9.4006 -9.21253 9.69391 0 0.443643 0.352194</pose>
        <view_controller>orbit</view_controller>
      </camera>
    </gui>
    <scene>
      <ambient>0.2 0.2 0.2 1</ambient>
      <grid>0</grid>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <physics name='default_physics' default='0' type='ode'>
      <gravity>0 0 -9.81</gravity>
      <ode>
        <solver>
          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
          <type>quick</type>
          <iters>50</iters>
          <sor>1.4</sor>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100</contact_max_correcting_vel>
          <contact_surface_layer>0</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>1000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <magnetic_field>5.5645e-06 2.28758e-05 -4.23884e-05</magnetic_field>
    </physics>
    <light name='sun' type='directional'>
      <cast_shadows>0</cast_shadows>
      <pose>0 0 100 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.9 0.9 0.9 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.2 0.2 -0.9</direction>
    </light>
    <light name='light_bulb' type='point'>
      <cast_shadows>0</cast_shadows>
      <pose>-14 0 5 0 -0 0</pose>
      <diffuse>0.3 0.3 0.3 1</diffuse>
      <specular>0 0 0 1</specular>
      <attenuation>
        <range>80</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0 0 -1</direction>
    </light>
    <model name='grey_wall_1'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>169 92.2 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_2'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>141 57 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_3'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>134 57 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_4'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>126.486 57 0 0 -0 0</pose>
    </model>
    <model name='grey_wall_5'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>122.702 60.6522 0 0 -0 1.5708</pose>
    </model>
    <model name='grey_wall_6'>
      <static>1</static>
      <link name='link'>
        <pose>0 0 1.4 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>7.5 0.2 2.8</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
              <name>vrc/grey_wall</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>122.697 122.697 0 0 -0 1.5708</pose>
    </model>
    <model name='dumpster_0'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://dumpster/materials/scripts</uri>
              <uri>model://dumpster/materials/textures</uri>
              <name>Dumpster/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>168.8 93.77 0 0 -0 3.1415</pose>
      <static>1</static>
    </model>
    <model name='barrel_a'>
      <link name='link'>
        <inertial>
          <pose>0 0 0.4 0 -0 0</pose>
          <mass>500</mass>
          <inertia>
            <ixx>51.2096</ixx>
            <iyy>51.2096</iyy>
            <izz>25</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>178.86 83.54 0 0 -0 0</pose>
      <static>1</static>
    </model>
    <model name='barrel_b'>
      <link name='link'>
        <inertial>
          <pose>0 0 0.4 0 -0 0</pose>
          <mass>500</mass>
          <inertia>
            <ixx>51.2096</ixx>
            <iyy>51.2096</iyy>
            <izz>25</izz>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyz>0</iyz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>178.78 80.47 0 0 -0 0</pose>
      <static>1</static>
    </model>
    <model name='house_2_d'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://house_2/materials/scripts</uri>
              <uri>model://house_2/materials/textures</uri>
              <uri>model://house_1/materials/textures</uri>
              <name>House_2/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>184.46 108.4 0 0 -0 0</pose>
    </model>
    <model name='house_2_e'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://house_2/meshes/house_2.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://house_2/materials/scripts</uri>
              <uri>model://house_2/materials/textures</uri>
              <uri>model://house_1/materials/textures</uri>
              <name>House_2/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>117.274 29.1903 0 0 -0 0.84</pose>
    </model>
    <model name='jersey_barrier_1'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base'>
          <pose>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base2'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base3'>
          <pose>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>158 106 0 0 -0 0</pose>
    </model>
    <model name='jersey_barrier_2'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base'>
          <pose>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base2'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base3'>
          <pose>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose>151 106 0 0 -0 0</pose>
    </model>
    <model name='jersey_barrier_3'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base'>
          <pose>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base2'>
          <pose>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
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        <visual name='visual_floor_77'>
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          <material>
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        <visual name='visual_floor_79'>
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    <model name='gate_0'>
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    </model>
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        <collision name='collision'>
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        <gravity>1</gravity>
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    <model name='vehiclegate_1'>
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      <pose>5 0 2 0 -0 0</pose>
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        <collision name='right_collision'>
          <pose>0 -4 0 0 -0 0</pose>
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        <collision name='left_collision'>
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        <visual name='visual'>
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              <uri>model://vehicle_gate/meshes/vehicle_gate.dae</uri>
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    <model name='vehiclegate_2'>
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      <pose>190 100 2 0 -0 0</pose>
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    <model name='House 1'>
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    <model name='House 2'>
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      <pose>77 8 0 0 -0 0</pose>
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    <model name='house_2_c'>
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    <model name='House 3'>
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            <frameName>front_laser</frameName>
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            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.32</radius>
              <length>0.23</length>
            </cylinder>
          </geometry>
          <max_contacts>1</max_contacts>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 1</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
            </friction>
            <contact>
              <ode>
                <min_depth>0.005</min_depth>
                <kp>1e+08</kp>
              </ode>
            </contact>
            <bounce/>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Rear_Wheel_Left</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::front_right_wheel'>
        <pose>1.03 -0.6 0.32 1.52 -0 0</pose>
        <inertial>
          <mass>12</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0</ixy>
            <iyy>0.5</iyy>
            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.32</radius>
              <length>0.23</length>
            </cylinder>
          </geometry>
          <max_contacts>1</max_contacts>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 1</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
            </friction>
            <contact>
              <ode>
                <min_depth>0.005</min_depth>
                <kp>1e+08</kp>
              </ode>
            </contact>
            <bounce/>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 3.14159 -1.57079 3.14159</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Front_Wheel_Right</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::front_right_wheel_steering_block'>
        <pose>1.03 -0.5 0.32 1.5708 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <iyy>1</iyy>
            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.01</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::front_left_wheel'>
        <pose>1.03 0.6 0.32 -1.52 0 0</pose>
        <inertial>
          <mass>12</mass>
          <inertia>
            <ixx>0.5</ixx>
            <ixy>0</ixy>
            <iyy>0.5</iyy>
            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.32</radius>
              <length>0.23</length>
            </cylinder>
          </geometry>
          <max_contacts>1</max_contacts>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 1</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
            </friction>
            <contact>
              <ode>
                <min_depth>0.005</min_depth>
                <kp>1e+08</kp>
              </ode>
            </contact>
            <bounce/>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 -2.65359e-06 1.57079 3.14159</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Front_Wheel_Left</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::front_left_wheel_steering_block'>
        <pose>1.03 0.5 0.32 1.5708 -0 0</pose>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <iyy>1</iyy>
            <ixz>0</ixz>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.05</radius>
              <length>0.01</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::gas_pedal'>
        <pose>0.63 0.1 0.58 0 -0 0</pose>
        <gravity>0</gravity>
        <inertial>
          <mass>0.1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>
        <collision name='gas_pedal_collision'>
          <pose>-0.0385 0 -0.086 3.14159 1.12559 3.14159</pose>
          <geometry>
            <box>
              <size>0.1069 0.077 0.01</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 0 0 -1.5707</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Pedal_Gas</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='polaris_ranger_ev::brake_pedal'>
        <gravity>0</gravity>
        <pose>0.64 0.27 0.58 0 -0 0</pose>
        <inertial>
          <mass>0.1</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>
        <collision name='brake_pedal_collision'>
          <pose>-0.04 0 -0.086 3.14159 1.14259 3.14159</pose>
          <geometry>
            <box>
              <size>0.063 0.08 0.01</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 0 0 -1.5707</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Pedal_brake</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <link name='polaris_ranger_ev::steering_wheel'>
        <pose>0.34 0.3 1.29 0 -0.87 0</pose>
        <inertial>
          <mass>1</mass>
          <pose>-0.002 0 0 0 -0 0</pose>
          <inertia>
            <ixx>0.012</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.012</iyy>
            <iyz>0</iyz>
            <izz>0.024</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <pose>0 0 0 -0.69 5.55112e-17 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Steering_Wheel</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <surface>
            <contact>
              <ode>
                <min_depth>0.003</min_depth>
              </ode>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>0 0 0 -0.69 5.55112e-17 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>Steering_Wheel</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::hand_brake'>
        <pose>0.53 0.07 1.05 0 -0 0</pose>
        <inertial>
          <mass>0.5</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.05</izz>
          </inertia>
        </inertial>
        <collision name='hand_brake_collision'>
          <pose>0 0 0.05 -0.2 -1.38778e-17 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>E-Brake</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='hand_brake_visual'>
          <pose>0 0 0.05 -0.2 -1.38778e-17 -1.5708</pose>
          <geometry>
            <mesh>
              <uri>model://polaris_ranger_ev/meshes/polaris.dae</uri>
              <submesh>
                <name>E-Brake</name>
                <center>1</center>
              </submesh>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>Polaris/Diffuse</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='polaris_ranger_ev::FNR_switch'>
        <pose>0.56 -0.02 1.08 0 0.25 0</pose>
        <inertial>
          <mass>0.1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>6e-05</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
        </inertial>
        <collision name='polaris_ranger_ev::FNR_switch'>
          <geometry>
            <box>
              <size>0.02 0.04 0.08</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='FNR_switch_F'>
          <transparency>0</transparency>
          <geometry>
            <box>
              <size>0.02 0.04 0.08</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>FNR_switch_F</name>
            </script>
          </material>
        </visual>
        <visual name='FNR_switch_R'>
          <transparency>1</transparency>
          <geometry>
            <box>
              <size>0.0199 0.0399 0.0799</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://polaris_ranger_ev/materials/scripts</uri>
              <uri>model://polaris_ranger_ev/materials/textures</uri>
              <name>FNR_switch_R</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <joint name='polaris_ranger_ev::front_left_steering_joint' type='revolute'>
        <child>polaris_ranger_ev::front_left_wheel_steering_block</child>
        <parent>polaris_ranger_ev::chassis</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-0.8727</lower>
            <upper>0.8727</upper>
          </limit>
          <dynamics>
            <damping>50</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::front_left_wheel_joint' type='revolute'>
        <child>polaris_ranger_ev::front_left_wheel</child>
        <parent>polaris_ranger_ev::front_left_wheel_steering_block</parent>
        <axis>
          <xyz>0 1 0.05</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='polaris_ranger_ev::front_right_steering_joint' type='revolute'>
        <child>polaris_ranger_ev::front_right_wheel_steering_block</child>
        <parent>polaris_ranger_ev::chassis</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-0.8727</lower>
            <upper>0.8727</upper>
          </limit>
          <dynamics>
            <damping>50</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.9</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::front_right_wheel_joint' type='revolute'>
        <child>polaris_ranger_ev::front_right_wheel</child>
        <parent>polaris_ranger_ev::front_right_wheel_steering_block</parent>
        <axis>
          <xyz>0 1 -0.05</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='polaris_ranger_ev::rear_left_wheel_joint' type='revolute'>
        <child>polaris_ranger_ev::rear_left_wheel</child>
        <parent>polaris_ranger_ev::chassis</parent>
        <axis>
          <xyz>0 1 0.05</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='polaris_ranger_ev::rear_right_wheel_joint' type='revolute'>
        <pose>0 0 -0.1 0 -0 0</pose>
        <child>polaris_ranger_ev::rear_right_wheel</child>
        <parent>polaris_ranger_ev::chassis</parent>
        <axis>
          <xyz>0 1 -0.05</xyz>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='polaris_ranger_ev::rear_differential_joint' type='revolute'>
        <child>polaris_ranger_ev::rear_right_wheel</child>
        <parent>polaris_ranger_ev::rear_left_wheel</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <dynamics>
            <damping>70</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
        </axis>
        <physics>
          <ode>
            <erp>0</erp>
            <cfm>1000</cfm>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::gas_joint' type='prismatic'>
        <parent>polaris_ranger_ev::chassis</parent>
        <child>polaris_ranger_ev::gas_pedal</child>
        <axis>
          <xyz>1 0 -1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.08</upper>
          </limit>
          <dynamics>
            <damping>3</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::brake_joint' type='prismatic'>
        <parent>polaris_ranger_ev::chassis</parent>
        <child>polaris_ranger_ev::brake_pedal</child>
        <axis>
          <xyz>1 0 -0.6</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.08</upper>
          </limit>
          <dynamics>
            <damping>3</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::steering_joint' type='revolute'>
        <pose>-0.002 0 0 0 -0 0</pose>
        <parent>polaris_ranger_ev::chassis</parent>
        <child>polaris_ranger_ev::steering_wheel</child>
        <axis>
          <xyz>-1 0 0.84365</xyz>
          <limit>
            <lower>-3.14</lower>
            <upper>3.14</upper>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::hand_brake_joint' type='revolute'>
        <parent>polaris_ranger_ev::chassis</parent>
        <child>polaris_ranger_ev::hand_brake</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>0</lower>
            <upper>0.6</upper>
          </limit>
          <dynamics>
            <damping>1</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <joint name='polaris_ranger_ev::FNR_switch_joint' type='revolute'>
        <parent>polaris_ranger_ev::chassis</parent>
        <child>polaris_ranger_ev::FNR_switch</child>
        <axis>
          <xyz>0 -1 0</xyz>
          <limit>
            <lower>-0.3</lower>
            <upper>0.3</upper>
          </limit>
          <dynamics>
            <damping>0.01</damping>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
        <physics>
          <ode>
            <cfm_damping>1</cfm_damping>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <plugin name='vehicle' filename='libDRCVehicleROSPlugin.so'>
        <front_left_wheel>polaris_ranger_ev::front_left_wheel_joint</front_left_wheel>
        <front_right_wheel>polaris_ranger_ev::front_right_wheel_joint</front_right_wheel>
        <front_left_wheel_steering>polaris_ranger_ev::front_left_steering_joint</front_left_wheel_steering>
        <front_right_wheel_steering>polaris_ranger_ev::front_right_steering_joint</front_right_wheel_steering>
        <back_left_wheel>polaris_ranger_ev::rear_left_wheel_joint</back_left_wheel>
        <back_right_wheel>polaris_ranger_ev::rear_right_wheel_joint</back_right_wheel>
        <gas_pedal>polaris_ranger_ev::gas_joint</gas_pedal>
        <brake_pedal>polaris_ranger_ev::brake_joint</brake_pedal>
        <steering_wheel>polaris_ranger_ev::steering_joint</steering_wheel>
        <hand_brake>polaris_ranger_ev::hand_brake_joint</hand_brake>
        <fnr_switch>polaris_ranger_ev::FNR_switch_joint</fnr_switch>
        <fnr_switch_f>polaris_ranger_ev::FNR_switch::FNR_switch_F</fnr_switch_f>
        <fnr_switch_r>polaris_ranger_ev::FNR_switch::FNR_switch_R</fnr_switch_r>
        <front_torque>1000</front_torque>
        <back_torque>1000</back_torque>
        <front_brake_torque>2000</front_brake_torque>
        <back_brake_torque>2000</back_brake_torque>
        <max_speed>4.5</max_speed>
        <max_steer>0.6458</max_steer>
        <aero_load>0.1</aero_load>
        <min_brake_percent>0.04</min_brake_percent>
        <flwheel_steering_p_gain>500</flwheel_steering_p_gain>
        <frwheel_steering_p_gain>500</frwheel_steering_p_gain>
        <flwheel_steering_i_gain>0</flwheel_steering_i_gain>
        <frwheel_steering_i_gain>0</frwheel_steering_i_gain>
        <flwheel_steering_d_gain>50</flwheel_steering_d_gain>
        <frwheel_steering_d_gain>50</frwheel_steering_d_gain>
        <robotNamespace>/fuCar/</robotNamespace>
      </plugin>
      <plugin name='seat_mud' filename='libMudPlugin.so'>
        <contact_sensor_name>polaris_ranger_ev/chassis/seat_contact</contact_sensor_name>
        <stiffness>0.0</stiffness>
        <damping>100.0</damping>
        <link_name>atlas::pelvis</link_name>
        <link_name>atlas::r_uleg</link_name>
        <link_name>atlas::l_uleg</link_name>
        <robotNamespace>/fuCar/</robotNamespace>
      </plugin>
      <pose>0 0 0 0 -0 0</pose>
    </model>
    <state world_name='vrc_task_1'>
      <sim_time>37 200000000</sim_time>
      <real_time>57 513724863</real_time>
      <wall_time>1432640510 858857072</wall_time>
      <model name='Dumpster'>
        <pose>143 51.5 0 0 -0 0</pose>
        <link name='link'>
          <pose>143 51.5 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='Fast Food'>
        <pose>95 7 0 0 -0 0</pose>
        <link name='link'>
          <pose>95 7 1.57966 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='Gas Station'>
        <pose>135 84.8 0 0 -0 0</pose>
        <link name='link'>
          <pose>135 84.8 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='House 1'>
        <pose>12 9.5 0 0 -0 0</pose>
        <link name='link'>
          <pose>12 9.5 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='House 2'>
        <pose>30 -8 0 0 -0 0</pose>
        <link name='link'>
          <pose>30 -8 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='House 3'>
        <pose>54 7 0 0 -0 0</pose>
        <link name='link'>
          <pose>54 7 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='Starting Pen'>
        <pose>-11 8 0 0 -0 3.1415</pose>
        <link name='link'>
          <pose>-11 8 0 0 -0 3.1415</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='barrel_1'>
        <pose>30 -0.999908 0.009999 -1e-06 -1e-06 -0.000173</pose>
        <link name='link'>
          <pose>30 -0.999908 0.009999 -1e-06 -1e-06 -0.000173</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-2.13338 2.90289 -0.729069 -0.743318 -0.547019 -0.000317</acceleration>
          <wrench>-1066.69 1451.44 -364.535 0 -0 0</wrench>
        </link>
      </model>
      <model name='barrel_2'>
        <pose>60 1.20009 0.009999 -2e-06 -4e-06 -0.000173</pose>
        <link name='link'>
          <pose>60 1.20009 0.009999 -2e-06 -4e-06 -0.000173</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-2.1123 2.92666 0.025829 -0.750945 -0.538548 -0.001126</acceleration>
          <wrench>-1056.15 1463.33 12.9143 0 -0 0</wrench>
        </link>
      </model>
      <model name='barrel_3'>
        <pose>108 5.00009 0.009999 -2e-06 -3e-06 -0.000172</pose>
        <link name='link'>
          <pose>108 5.00009 0.009999 -2e-06 -3e-06 -0.000172</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-1.95871 4.03624 0.407208 -1.03344 -0.501515 -1.2e-05</acceleration>
          <wrench>-979.353 2018.12 203.604 0 -0 0</wrench>
        </link>
      </model>
      <model name='barrel_a'>
        <pose>178.86 83.54 0 0 -0 0</pose>
        <link name='link'>
          <pose>178.86 83.54 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='barrel_b'>
        <pose>178.78 80.47 0 0 -0 0</pose>
        <link name='link'>
          <pose>178.78 80.47 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='dumpster_0'>
        <pose>168.8 93.77 0 0 -0 3.1415</pose>
        <link name='link'>
          <pose>168.8 93.77 0 0 -0 3.1415</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='fuCar'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='base_link'>
          <pose>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>
        <link name='polaris_ranger_ev::FNR_switch'>
          <pose>0.563298 -0.020006 1.08913 -9.88357e-22 0.541355 1.9e-05</pose>
          <velocity>-0.000134 4.7e-05 -0.003823 -5e-05 -1.03398e-25 -1.5e-05</velocity>
          <acceleration>-6e-06 -1e-06 6e-06 0 -0 0</acceleration>
          <wrench>-1e-06 -0 1e-06 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::brake_pedal'>
          <pose>0.644625 0.269995 0.589333 -1.32349e-23 -0.002645 1.9e-05</pose>
          <velocity>-0.002583 2.2e-05 -0.002275 -4.5e-05 -0.000269 -1.8e-05</velocity>
          <acceleration>-0.01221 0 0.007288 0.000982 -0.00307 0.001647</acceleration>
          <wrench>-0.001221 0 0.000729 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::chassis'>
          <pose>0.006156 -1.7e-05 0.007649 -1.32349e-23 -0.002645 1.9e-05</pose>
          <velocity>0.000146 2e-06 -0.003972 -4.9e-05 -0.000257 -1.5e-05</velocity>
          <acceleration>-3e-06 -1e-06 4e-06 1e-06 -0.004477 -8.27189e-25</acceleration>
          <wrench>-0.002308 -0.00042 0.002749 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::front_left_wheel'>
          <pose>1.03534 0.600014 0.330402 -1.51997 0.017379 0.000545</pose>
          <velocity>4.5e-05 0.000137 -0.004412 0.000273 0.000107 -0.000103</velocity>
          <acceleration>-2e-06 -1e-06 5e-06 1.9e-05 0.059542 0.005862</acceleration>
          <wrench>-2.1e-05 -1.5e-05 5.9e-05 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::front_left_wheel_steering_block'>
          <pose>1.03529 0.500018 0.330416 1.57081 -0.002645 -0.000456</pose>
          <velocity>2.2e-05 0.000201 -0.004724 -2.1e-05 -0.000252 -0.000103</velocity>
          <acceleration>-1e-06 -3e-06 3e-06 0.000175 -0.525147 -0.312915</acceleration>
          <wrench>-1e-06 -3e-06 3e-06 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::front_right_wheel'>
          <pose>1.03536 -0.600009 0.330402 1.51997 0.017474 -0.000521</pose>
          <velocity>4.1e-05 -0.000115 -0.004372 -0.000335 9.6e-05 0.000102</velocity>
          <acceleration>-2e-06 1e-06 5e-06 -2e-05 0.058408 -0.005751</acceleration>
          <wrench>-2e-05 8e-06 5.5e-05 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::front_right_wheel_steering_block'>
          <pose>1.03531 -0.500013 0.330416 1.57079 -0.002645 0.000484</pose>
          <velocity>2.1e-05 -0.000173 -0.004703 -6.5e-05 -0.000256 0.000108</velocity>
          <acceleration>-1e-06 2e-06 3e-06 -0.000134 -0.513522 0.308273</acceleration>
          <wrench>-1e-06 2e-06 3e-06 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::gas_pedal'>
          <pose>0.634639 0.099995 0.589292 -1.32349e-23 -0.002645 1.9e-05</pose>
          <velocity>-0.001007 2.1e-05 -0.002811 -4.8e-05 -0.000266 -1.6e-05</velocity>
          <acceleration>-0.133411 5e-06 0.132767 0.006628 -0.047177 0.006662</acceleration>
          <wrench>-0.013341 0 0.013277 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::hand_brake'>
          <pose>0.533375 0.069993 1.05905 -2.0479e-21 -0.596654 1.9e-05</pose>
          <velocity>-0.000125 4.6e-05 -0.003836 -5e-05 -1.03398e-25 -1.5e-05</velocity>
          <acceleration>-6e-06 -1e-06 6e-06 0 -0 0</acceleration>
          <wrench>-3e-06 -0 3e-06 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::rear_left_wheel'>
          <pose>-0.8447 0.599966 0.3254 -1.51999 0.016375 0.00097</pose>
          <velocity>5e-05 0.000103 -0.004216 0.000349 0.000153 -6e-06</velocity>
          <acceleration>-2e-06 -0 0 -1.1e-05 0.068117 0.006795</acceleration>
          <wrench>-2.4e-05 -5e-06 0 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::rear_right_wheel'>
          <pose>-0.844675 -0.600033 0.3254 1.51999 0.01647 -0.000936</pose>
          <velocity>4e-05 -4.9e-05 -0.004144 -0.000506 0.00013 -2.3e-05</velocity>
          <acceleration>-2e-06 -0 -0 8e-06 0.064246 -0.006413</acceleration>
          <wrench>-2.3e-05 -6e-06 -6e-06 0 -0 0</wrench>
        </link>
        <link name='polaris_ranger_ev::steering_wheel'>
          <pose>0.342737 0.299989 1.29854 -1e-06 -0.872645 2e-05</pose>
          <velocity>-0.000184 6.1e-05 -0.003897 -2.8e-05 -0.000261 -3.3e-05</velocity>
          <acceleration>-7e-06 -1e-06 5e-06 0 -0 0</acceleration>
          <wrench>-7e-06 -1e-06 5e-06 0 -0 0</wrench>
        </link>
      </model>
      <model name='gate_0'>
        <pose>-11 -1 2 0 0 -1.5707</pose>
        <link name='link'>
          <pose>-11 -1 2 0 0 -1.5707</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='gate_3'>
        <pose>198 103 2 0 -0 1.5707</pose>
        <link name='link'>
          <pose>198 103 2 0 -0 1.5707</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='gate_number_1_a'>
        <pose>-8.85 -1 3.75 0 -0 1.5707</pose>
        <link name='link'>
          <pose>-8.85 -1 3.75 0 -0 1.5707</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='gate_number_1_b'>
        <pose>-13.15 -1 3.75 0 -0 1.5707</pose>
        <link name='link'>
          <pose>-13.15 -1 3.75 0 -0 1.5707</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='gate_number_2_a'>
        <pose>5 -3.65 3.75 0 -0 0</pose>
        <link name='link'>
          <pose>5 -3.65 3.75 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='gate_number_2_b'>
        <pose>5 3.65 3.75 0 -0 0</pose>
        <link name='link'>
          <pose>5 3.65 3.75 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='gate_number_3_a'>
        <pose>190 96.35 3.75 0 -0 0</pose>
        <link name='link'>
          <pose>190 96.35 3.75 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='gate_number_3_b'>
        <pose>190 103.65 3.75 0 -0 0</pose>
        <link name='link'>
          <pose>190 103.65 3.75 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='gate_number_4_a'>
        <pose>195.85 103 3.75 0 -0 1.5707</pose>
        <link name='link'>
          <pose>195.85 103 3.75 0 -0 1.5707</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='gate_number_4_b'>
        <pose>200.15 103 3.75 0 -0 1.5707</pose>
        <link name='link'>
          <pose>200.15 103 3.75 0 -0 1.5707</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='grass_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>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='grey_wall_1'>
        <pose>169 92.2 0 0 -0 0</pose>
        <link name='link'>
          <pose>169 92.2 1.4 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='grey_wall_2'>
        <pose>141 57 0 0 -0 0</pose>
        <link name='link'>
          <pose>141 57 1.4 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='grey_wall_3'>
        <pose>134 57 0 0 -0 0</pose>
        <link name='link'>
          <pose>134 57 1.4 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='grey_wall_4'>
        <pose>126.486 57 0 0 -0 0</pose>
        <link name='link'>
          <pose>126.486 57 1.4 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='grey_wall_5'>
        <pose>122.702 60.6522 0 0 -0 1.5708</pose>
        <link name='link'>
          <pose>122.702 60.6522 1.4 0 -0 1.5708</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='grey_wall_6'>
        <pose>122.697 122.697 0 0 -0 1.5708</pose>
        <link name='link'>
          <pose>122.697 122.697 1.4 0 -0 1.5708</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='heightmap_1'>
        <pose>0 0 0 0 -0 0</pose>
        <link name='link'>
          <pose>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='house_1_b'>
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