cave_circuit_practice_01.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="cave_circuit_practice_01">

    <physics name="1ms" type="ode">
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <scene>
      <ambient>0.1 0.1 0.1 1.0</ambient>
      <background>0 0 0 1.0</background>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <atmosphere type="adiabatic">
       <temperature>288</temperature>
       <temperature_gradient>0.2</temperature_gradient>
    </atmosphere>

    <!-- The staging area -->
    <include>
      <static>true</static>
      <name>staging_area</name>
      <pose>0 0 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Starting Area Type B</uri>
    </include>

    <!-- The base station -->
    <include>
      <static>true</static>
      <name>base_station</name>
      <pose>-8 0 0 0 0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
    </include>
 
    <!-- Fiducial marking the origin for artifacts reports -->
    <include>
      <name>artifact_origin</name>
      <pose>10.0 0.0 0.0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial</uri>
    </include>

    <!-- Tunnel tiles and artifacts -->
    <include>
      <static>true</static>
      <name>tile_1</name>
      <pose>37.5 0 0 0 0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Transition Type A to and from Type B Lights</uri>
    </include>

    <include>
      <pose>237.5 -300.0 25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 01 Type A</uri>
      <name>tile_2</name>
    </include>
    <include>
      <pose>162.5 -300.0 25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way Elevation 01 Type A</uri>
      <name>tile_3</name>
    </include>
    <include>
      <pose>187.5 -200.0 -50.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 4 Way 01 Type A</uri>
      <name>tile_4</name>
    </include>
    <include>
      <pose>87.5 -250.0 -50.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 4 Way 01 Type A</uri>
      <name>tile_5</name>
    </include>
    <include>
      <pose>137.5 -200.0 -50.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 01 Type A</uri>
      <name>tile_6</name>
    </include>
    <include>
      <pose>87.5 -200.0 0.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 4 Way 01 Type A</uri>
      <name>tile_7</name>
    </include>
    <include>
      <pose>237.5 -225.0 0.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation Straight Lights Type A</uri>
      <name>tile_8</name>
    </include>
    <include>
      <pose>87.5 -150.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 02 Type A</uri>
      <name>tile_9</name>
    </include>
    <include>
      <pose>112.5 -50.0 -50.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn 01 Type A</uri>
      <name>tile_10</name>
    </include>
    <include>
      <pose>162.5 -100.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Shift Type A</uri>
      <name>tile_11</name>
    </include>
    <include>
      <pose>87.5 -100.0 -50.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Type A</uri>
      <name>tile_12</name>
    </include>
    <include>
      <pose>262.5 -200.0 -50.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation Straight Type A</uri>
      <name>tile_13</name>
    </include>
    <include>
      <pose>337.5 -150.0 -25.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 02 Type A</uri>
      <name>tile_14</name>
    </include>
    <include>
      <pose>287.5 -100.0 -25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 01 Type A</uri>
      <name>tile_15</name>
    </include>
    <include>
      <pose>237.5 -100.0 -25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Lights Type A</uri>
      <name>tile_16</name>
    </include>
    <include>
      <pose>237.5 -150.0 0.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Top Type A</uri>
      <name>tile_17</name>
    </include>
    <include>
      <pose>237.5 -100.0 -25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Cantilevered Type A</uri>
      <name>tile_18</name>
    </include>
    <include>
      <pose>162.5 0.0 0.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way Elevation 02 Lights Type A</uri>
      <name>tile_19</name>
    </include>
    <include>
      <pose>412.5 -150.0 -25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way Elevation 02 Type A</uri>
      <name>tile_20</name>
    </include>
    <include>
      <pose>37.5 -225.0 -50.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn 01 Type A</uri>
      <name>tile_21</name>
    </include>
    <include>
      <pose>87.5 -300.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way 01 Type A</uri>
      <name>tile_22</name>
    </include>
    <include>
      <pose>62.5 -350.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Shift Type A</uri>
      <name>tile_23</name>
    </include>
    <include>
      <pose>112.5 -375.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 2 Way 01 Type A</uri>
      <name>tile_24</name>
    </include>
    <include>
      <pose>137.5 -350.0 -50.0 0.0 0.0 3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 4 Way 01 Type A</uri>
      <name>tile_25</name>
    </include>
    <include>
      <pose>187.5 -275.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Split Type A</uri>
      <name>tile_26</name>
    </include>
    <include>
      <pose>187.5 -350.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 01 Type A</uri>
      <name>tile_27</name>
    </include>
    <include>
      <pose>137.5 -300.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 02 Type A</uri>
      <name>tile_28</name>
    </include>
    <include>
      <pose>87.5 -250.0 0.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 02 Type A</uri>
      <name>tile_29</name>
    </include>
    <include>
      <pose>87.5 -75.0 0.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation Corner Type A</uri>
      <name>tile_30</name>
    </include>
    <include>
      <pose>87.5 0.0 0.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Cantilevered Type A</uri>
      <name>tile_31</name>
    </include>
    <include>
      <pose>87.5 0.0 0.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Lights Type A</uri>
      <name>tile_32</name>
    </include>
    <include>
      <pose>137.5 0.0 25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Top Type A</uri>
      <name>tile_33</name>
    </include>
    <include>
      <pose>187.5 -150.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Type A</uri>
      <name>tile_34</name>
    </include>
    <include>
      <pose>237.5 -50.0 0.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 02 Lights Type A</uri>
      <name>tile_35</name>
    </include>
    <include>
      <pose>237.5 -100.0 0.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Type A</uri>
      <name>tile_36</name>
    </include>
    <include>
      <pose>337.5 -75.0 -50.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Straight Shift Type A</uri>
      <name>tile_37</name>
    </include>
    <include>
      <pose>287.5 -100.0 -50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 03 Type A</uri>
      <name>tile_38</name>
    </include>
    <include>
      <pose>287.5 -25.0 -75.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 04 Type A</uri>
      <name>tile_39</name>
    </include>
    <include>
      <pose>387.5 -50.0 50.0 0.0 0.0 1.5707</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Cantilevered Type A</uri>
      <name>tile_40</name>
    </include>
    <include>
      <pose>387.5 -50.0 50.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Type A</uri>
      <name>tile_41</name>
    </include>
    <include>
      <pose>337.5 -50.0 75.0 0.0 0.0 3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Top Type A</uri>
      <name>tile_42</name>
    </include>
    <include>
      <pose>337.5 -100.0 50.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn Elevation Type A</uri>
      <name>tile_43</name>
    </include>
    <include>
      <pose>337.5 0.0 75.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cavern Type A</uri>
      <name>tile_44</name>
    </include>
    <include>
      <pose>412.5 0.0 25.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation 01 Type A</uri>
      <name>tile_45</name>
    </include>
    <include>
      <pose>487.5 0.0 25.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 01 Type A</uri>
      <name>tile_46</name>
    </include>
    <include>
      <pose>487.5 -75.0 0.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation Straight Lights Type A</uri>
      <name>tile_47</name>
    </include>
    <include>
      <pose>487.5 -150.0 -25.0 0.0 0.0 -1.5707</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Type A</uri>
      <name>tile_48</name>
    </include>
    <include>
      <pose>487.5 -150.0 0.0 0.0 0.0 3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Top Type A</uri>
      <name>tile_49</name>
    </include>
    <include>
      <pose>487.5 -200.0 -25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave U Turn Elevation Type A</uri>
      <name>tile_50</name>
    </include>
    <include>
      <pose>537.5 -150.0 -25.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Corner 03 Type A</uri>
      <name>tile_51</name>
    </include>
    <include>
      <pose>487.5 -150.0 -25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Type A</uri>
      <name>tile_52</name>
    </include>
    <include>
      <pose>212.499984701 0.0 25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Elevation 02 Type A</uri>
      <name>tile_53</name>
    </include>
    <include>
      <pose>287.5 0.0 100.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Straight Bottom Type A</uri>
      <name>tile_54</name>
    </include>
    <include>
      <pose>287.5 0.0 100.0 0.0 0.0 -1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Vertical Shaft Dead End Type A</uri>
      <name>tile_55</name>
    </include>
    <include>
      <pose>387.5 25.0 -25.0 0.0 0.0 -3.14159</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave 3 Way Elevation 03 Type A</uri>
      <name>tile_56</name>
    </include>

    <include>
      <pose>62.5 -200.0 0.0 0.0 0.0 1.5708</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A</uri>
      <name>cap_100</name>
    </include>
    <include>
      <pose>337.5 25.0 75.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A</uri>
      <name>cap_101</name>
    </include>
    <include>
      <pose>387.5 75.0 -25.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A</uri>
      <name>cap_102</name>
    </include>
    <include>
      <pose>87.5 -225.0 -50.0 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cave Cap Type A</uri>
      <name>cap_103</name>
    </include>

    <include>
      <name>rope_1</name>
      <pose>298.849 0.9099999999999966 145.94 0.152428 -1.5708 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope</uri>
    </include>
    <include>
      <name>rope_2</name>
      <pose>221.815 -4.462999999999994 1.3350000000000009 0.0939603 -1.1956 0.762236</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope</uri>
    </include>
    <include>
      <name>rope_3</name>
      <pose>192.5813 -187.2 -46.0564 0.0 -0.242729 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope</uri>
    </include>
    <include>
      <name>rope_4</name>
      <pose>97.209 -198.96 2.054000000000002 -0.286695 0.585636 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Rope</uri>
    </include>

    <include>
      <name>helmet_1</name>
      <pose>135.912 -69.843 -49.975 0.0 0.157676 -1.18</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light</uri>
    </include>
    <include>
      <name>helmet_2</name>
      <pose>413.461 0.2779999999999916 76.133 -0.30934 0.111357 1.70851</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light</uri>
    </include>
    <include>
      <name>helmet_3</name>
      <pose>521.057 -204.63400000000001 -20.267 -0.100604 -0.000322985 2.72117</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light</uri>
    </include>
    <include>
      <name>helmet_4</name>
      <pose>120.062 -379.231 -49.114 -0.102616 0.22539 -0.561962</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Climbing Helmet With Light</uri>
    </include>

    <include>
      <name>rescue_randy_1</name>
      <pose>205.088 -274.699 -48.383 0.0 0.0 0.0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
    </include>
    <include>
      <name>rescue_randy_2</name>
      <pose>349.929 6.632000000000005 75.376 0.0 0.0802218 -1.7206</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
    </include>
    <include>
      <name>rescue_randy_3</name>
      <pose>32.5757 -227.70 -50.555 0.159963 -0.206346 0.386252</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
    </include>
    <include>
      <name>rescue_randy_4</name>
      <pose>393.97 -149.951 -27.208 0.0459286 0.177719 0.254351</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy Sitting</uri>
    </include>

    <include>
      <name>backpack_1</name>
      <pose>494.4 -48.256 21.852000000000004 0.0676649 0.0147594 -0.458306</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red</uri>
    </include>
    <include>
      <name>backpack_2</name>
      <pose>381.33799999999997 26.439999999999998 -22.406 -0.345755 0.0 1.84534</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red</uri>
    </include>
    <include>
      <name>backpack_3</name>
      <pose>240.101 -163.555 1.8059999999999974 0.0527119 0.0 -1.89615</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red</uri>
    </include>
    <include>
      <name>backpack_4</name>
      <pose>284.23 -57.845 -50.988 -0.0969607 0.0 -1.31996</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/JanSport Backpack Red</uri>
    </include>

    <include>
      <name>phone_1</name>
      <pose>135.74169999999998 -290.782 -49.7544 -1.143609 0.0649271 0.402309</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black</uri>
    </include>
    <include>
      <name>phone_2</name>
      <pose>235.363 -269.258 24.450999999999993 -0.396026 0.131939 1.11754</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black</uri>
    </include>
    <include>
      <name>phone_3</name>
      <pose>202.7372 3.9070000000000107 67.089 -2.2140953 -0.00245237 0.00501571</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black</uri>
    </include>
    <include>
      <name>phone_4</name>
      <pose>84.36600000000001 -45.632000000000005 22.057000000000002 -0.78160 -0.132996 -0.083497</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Samsung J8 Black</uri>
    </include>

    <model name="performer_detector_rockfall_1">
      <static>true</static>
      <pose>287.47 -105.5 -19.67 0 0 0</pose>
      <!--Uncomment <link> to preview detector region-->
      <!--<link name='body'>-->
      <!--  <visual name="v1">-->
      <!--    <transparency>0.5</transparency>-->
      <!--    <geometry>-->
      <!--      <box>-->
      <!--        <size>20 30 20</size>-->
      <!--      </box>-->
      <!--    </geometry>-->
      <!--  </visual>-->
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      <plugin filename="libignition-gazebo-performer-detector-system.so"
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      <!--Triggered by performer_detector_rockfall_1-->
      <plugin name="ignition::gazebo::systems::TriggeredPublisher" filename="libignition-gazebo-triggered-publisher-system.so">
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    </model>
    <include>
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    <model name="performer_detector_rockfall_2">
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    <include>
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    <model name="performer_detector_rockfall_3">
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      <!--Uncomment <link> to preview detector region-->
      <!--<link name='body'>-->
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      <plugin filename="libignition-gazebo-performer-detector-system.so"
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      <!--Triggered by performer_detector_rockfall_3-->
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