<?xml version="1.0" ?>
<!-- this file was generated using embedded ruby -->
<sdf version='1.6'>
  <world name='default'>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <gravity>0 0 -9.81</gravity>

    <!-- model pose rotation -->
    <model name='box_0'>
      <pose>0 0 0.9 1.5707963267948966 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>10</mass>
          <inertia>
            <ixx>0.8083333333333335</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.35</iyy>
            <iyz>0</iyz>
            <izz>0.8083333333333335</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <!-- link pose rotation -->
    <model name='box_1'>
      <pose>4.5 0 0.9 0 -0 0</pose>
      <link name='link_1'>
        <pose>0 0 0 1.5707963267948966 -0 0</pose>
        <inertial>
          <mass>10</mass>
          <inertia>
            <ixx>0.8083333333333335</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.35</iyy>
            <iyz>0</iyz>
            <izz>0.8083333333333335</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <!-- collision pose rotation -->
    <model name='box_2'>
      <pose>9 0 0.9 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>10</mass>
          <inertia>
            <ixx>0.8083333333333335</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.35</iyy>
            <iyz>0</iyz>
            <izz>0.8083333333333335</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <pose>0 0 0 1.5707963267948966 -0 0</pose>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <pose>0 0 0 1.5707963267948966 -0 0</pose>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <!-- collision pose translation -->
    <model name='box_3'>
      <pose>13.5 0 0.9 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>10</mass>
          <inertia>
            <ixx>0.8083333333333335</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.35</iyy>
            <iyz>0</iyz>
            <izz>0.8083333333333335</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <pose>0 0 0.9 0 -0 0</pose>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <pose>0 0 0.9 0 -0 0</pose>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <link name='link_2'>
        <pose>0 1 0  0 0 0</pose>
        <inertial>
          <mass>10</mass>
          <inertia>
            <ixx>0.8083333333333335</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1.35</iyy>
            <iyz>0</iyz>
            <izz>0.8083333333333335</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.9 0.4 0.9</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>6 -12 12  0 0.75 1.5707963267948966</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
