<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="box_1">
      <pose>0 0 .5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box_2">
      <pose>0 0 1.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box_3">
      <pose>0 0 2.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box_4">
      <pose>0 0 3.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="box_5">
      <pose>0 0 4.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_1">
      <pose>0 1.5 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <soft_erp>1.0</soft_erp>
                <max_vel>0</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_2">
      <pose>0 1.5 1.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <soft_erp>1.0</soft_erp>
                <max_vel>0</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_3">
      <pose>0 1.5 2.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <soft_erp>1.0</soft_erp>
                <max_vel>0</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_4">
      <pose>0 1.5 3.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <soft_erp>1.0</soft_erp>
                <max_vel>0</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_5">
      <pose>0 1.5 4.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <soft_erp>1.0</soft_erp>
                <max_vel>0</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_1a">
      <pose>1.5 1.5 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_2a">
      <pose>1.5 1.5 1.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_3a">
      <pose>1.5 1.5 2.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_4a">
      <pose>1.5 1.5 3.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="sphere_5a">
      <pose>1.5 1.5 4.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder_1">
      <pose>0 -1.5 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder_2">
      <pose>0 -1.5 1.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder_3">
      <pose>0 -1.5 2.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder_4">
      <pose>0 -1.5 3.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
    <model name="cylinder_5">
      <pose>0 -1.5 4.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
