<?xml version="1.0" ?> <sdf version="1.5"> <model name="cafe"> <static>true</static> <link name="link"> <collision name="main_floor"> <pose>-0.4 -0.75 0.0948 0 0 0</pose> <geometry> <box> <size>9.38 22.63 0.19</size> </box> </geometry> </collision> <collision name="wall_1"> <pose>-5.03 0.53 1.415 0 0 0</pose> <geometry> <box> <size>.12 23.16 2.83</size> </box> </geometry> </collision> <collision name="wall_2"> <pose>4.24 -.31 1.415 0 0 0</pose> <geometry> <box> <size>.12 21.48 2.83</size> </box> </geometry> </collision> <collision name="wall_3"> <pose>-1.48 7.43 1.415 0 0 0</pose> <geometry> <box> <size>7.2 0.12 2.83</size> </box> </geometry> </collision> <collision name="wall_4"> <pose>2.09 8.9 1.435 0 0 0</pose> <geometry> <box> <size>0.12 3.05 2.87</size> </box> </geometry> </collision> <collision name="wall_5"> <pose>3.155 10.4 1.435 0 0 0</pose> <geometry> <box> <size>2.13 0.12 2.87</size> </box> </geometry> </collision> <collision name="wall_6"> <pose>0.615 -10.98 1.415 0 0 0</pose> <geometry> <box> <size>7.36 0.15 2.83</size> </box> </geometry> </collision> <collision name="wall_7"> <pose>-4.62 -10.98 1.415 0 0 0</pose> <geometry> <box> <size>0.93 0.15 2.83</size> </box> </geometry> </collision> <collision name="wall_8"> <pose>-3.61 -10.98 2.69 0 0 0</pose> <geometry> <box> <size>1.09 0.15 0.28</size> </box> </geometry> </collision> <collision name="coke"> <pose>-4.385 0.26 .95 0 0 0</pose> <geometry> <box> <size>1.03 1.03 1.52</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://cafe/meshes/cafe.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>