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trial_1.world
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trial_1.world
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<?xml version="1.0"?>
<sdf version="1.4">
<world name="trial_1_world">
<gui>
<camera name="user_camera">
<pose>0 -11.0 24.5 0 1.0 1.5708</pose>
</camera>
</gui>
<!-- Ground Plane -->
<include>
<uri>ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<!-- -------------------------Roads------------------------ -->
<include>
<uri>model://asphalt_road</uri>
<name>road1</name>
<pose>0 0.5 0 0 -0 1.57</pose>
</include>
<include>
<uri>model://asphalt_road</uri>
<name>road2</name>
<pose>3.5 5.43 0 0 -0 0</pose>
</include>
<include>
<uri>model://asphalt_road</uri>
<name>road3</name>
<pose>0 10 0 0 -0 1.57</pose>
</include>
<include>
<uri>model://asphalt_road</uri>
<name>road4</name>
<pose>-3.5 5.43 0 0 -0 0</pose>
</include>
<!-- -------------------------Buildings Block 1------------------------ -->
<include>
<uri>model://law_office</uri>
<name>building1</name>
<pose>1.85 2.34 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_1</uri>
<name>building2</name>
<pose>1.85 5.29 0.0 0 0 0</pose>
</include>
<include>
<uri>model://law_office</uri>
<name>building3</name>
<pose>1.85 8.29 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_2</uri>
<name>building4</name>
<pose>0 7.14 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_1</uri>
<name>building5</name>
<pose>-1.85 7.14 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_3</uri>
<name>building6</name>
<pose>-0.92 3.08 0.0 0 0 0</pose>
</include>
<!-- -------------------------Buildings Block 2------------------------ -->
<include>
<uri>model://office_1</uri>
<name>building21</name>
<pose>1.87 -2.35 0.0 0 0 0</pose>
</include>
<include>
<uri>model://law_office</uri>
<name>building22</name>
<pose>-5.21 8.29 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_2</uri>
<name>building23</name>
<pose>-6.90 7.14 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_3</uri>
<name>building24</name>
<pose>-8.50 3.08 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_2</uri>
<name>building25</name>
<pose>-5.23 3.808 0.0 0 0 0</pose>
</include>
<!-- -------------------------Buildings Block 3------------------------ -->
<include>
<uri>model://law_office</uri>
<name>building31</name>
<pose>1.85 11.86 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_2</uri>
<name>building32</name>
<pose>0 13.22 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_1</uri>
<name>building33</name>
<pose>-1.85 13.22 0.0 0 0 0</pose>
</include>
<!-- -------------------------Buildings Block 4------------------------ -->
<include>
<uri>model://law_office</uri>
<name>building41</name>
<pose>5.16 2.34 0.0 0 0 0</pose>
</include>
<include>
<uri>model://office_1</uri>
<name>building42</name>
<pose>5.16 5.29 0.0 0 0 0</pose>
</include>
<include>
<uri>model://law_office</uri>
<name>building43</name>
<pose>5.16 8.29 0.0 0 0 0</pose>
</include>
</world>
</sdf>