<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<model name='asphalt_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>48.1286 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>48.1286 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
</physics>
<gravity>0 0 -9.8066</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='asphalt_plane_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>0.355131 -18.0007 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.024109 13.3005 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-8.30014 -0.034278 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-15.632 -0.01132 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>16.7608 0.01925 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1_clone_0_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>27.1149 0.022549 0 0 0 -1.55871</pose>
</model>
<model name='asphalt_plane_clone_1_clone_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>8.31106 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>35.2662 -0.468727 0 0 -0 0</pose>
</model>
<model name='House 1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
<scale>1.5 1.5 1.5</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://house_1/meshes/house_1.dae</uri>
<scale>1.5 1.5 1.5</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://house_1/materials/scripts</uri>
<uri>model://house_1/materials/textures</uri>
<name>House_1/Diffuse</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-11.6539 0.805975 0 0 -0 0</pose>
</model>
<model name='apriltag'>
<static>0</static>
<link name='link'>
<inertial>
<mass>20</mass>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>1 1 0.5</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>1 1 0.5</size>
</box>
</geometry>
<material>
<script>
<name>AprilTag/Image</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>34.7009 -0.994468 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>284 626000000</sim_time>
<real_time>157 311455042</real_time>
<wall_time>1519147704 855273781</wall_time>
<iterations>77934</iterations>
<model name='House 1'>
<pose frame=''>-11.6539 0.805975 0 0 -0 1.52479</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-11.6539 0.805975 0 0 -0 1.52479</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='apriltag'>
<pose frame=''>34.5938 0.126966 0.3 1e-06 -4e-06 -0.00627</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>34.5938 0.126966 0.3 1e-06 -4e-06 -0.00627</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0.978294 -0.087254 2.81443 -2.79218 -0.771971 -3.14154</acceleration>
<wrench>19.5659 -1.74508 56.2886 0 -0 0</wrench>
</link>
</model>
<model name='asphalt_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>0.415553 1 1</scale>
<link name='link'>
<pose frame=''>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='asphalt_plane_clone'>
<pose frame=''>-0.008163 -19.9899 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.008163 -19.9899 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='asphalt_plane_clone_0'>
<pose frame=''>-0.001754 20 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.001754 20 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='asphalt_plane_clone_1'>
<pose frame=''>-8.30014 -0.034278 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-8.30014 -0.034278 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='asphalt_plane_clone_1_clone'>
<pose frame=''>-15.632 -0.01132 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-15.632 -0.01132 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='asphalt_plane_clone_1_clone_0'>
<pose frame=''>14.0208 -0.170453 0 0 0 -1.55871</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>14.0208 -0.170453 0 0 0 -1.55871</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='asphalt_plane_clone_1_clone_0_clone'>
<pose frame=''>27.1149 0.022549 0 0 0 -1.55871</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>27.1149 0.022549 0 0 0 -1.55871</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='asphalt_plane_clone_1_clone_1'>
<pose frame=''>35.2662 -0.468727 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>35.2662 -0.468727 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='blue_box'>
<pose frame=''>-0.829271 24.5566 0.175002 0 8e-06 -0.007568</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.829271 24.5566 0.175002 0 8e-06 -0.007568</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>-2.74803 0.026791 6.22154 2.96692 -0.011517 3.12794</acceleration>
<wrench>-2.74803 0.026791 6.22154 0 -0 0</wrench>
</link>
</model>
<model name='blue_box_mark'>
<pose frame=''>34.5932 0.114135 0.675728 0 2.7e-05 0.00981</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>34.5932 0.114135 0.554993 0 2.7e-05 0.00981</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>7.96238 -0.150263 5.99315 -2.92107 -1.47215 -2.83091</acceleration>
<wrench>7.96238 -0.150263 5.99315 0 -0 0</wrench>
</link>
</model>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>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>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>69.2623 -37.0256 29.2496 -0 0.573796 2.26902</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='blue_box'>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.5 0.5 0.25</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.25</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<pose frame=''>-0.826982 24.5481 0.278164 4.7e-05 -0 -0.00769</pose>
</model>
<model name='blue_box_mark'>
<link name='link'>
<pose frame=''>0 0 -0.120735 0 -0 0</pose>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
<shader type='vertex'>
<normal_map>__default__</normal_map>
</shader>
</material>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
<pose frame=''>34.5932 0.11416 0.677311 0 -0 0.009827</pose>
</model>
</world>
</sdf>