From 7f22f3ec8919dbf8652e476abd3bf3c1a8cc94d3 Mon Sep 17 00:00:00 2001
From: Jin Soo Park <js.park@utexas.edu>
Date: Mon, 11 Dec 2023 23:52:49 +0900
Subject: [PATCH] Update L-shape-1.6m.world

Long hallway
---
 train_world/worlds/L-shape-1.6m.world | 100 +++++++++++++-------------
 1 file changed, 50 insertions(+), 50 deletions(-)

diff --git a/train_world/worlds/L-shape-1.6m.world b/train_world/worlds/L-shape-1.6m.world
index 52483c2c..97902b1d 100644
--- a/train_world/worlds/L-shape-1.6m.world
+++ b/train_world/worlds/L-shape-1.6m.world
@@ -91,7 +91,7 @@
         <collision name='Wall_0_Collision'>
           <geometry>
             <box>
-              <size>15.6 0.2 1.0</size>
+              <size>25.8 0.2 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 0 0</pose>
@@ -113,7 +113,7 @@
           <pose frame=''>0 0 0.5 0 -0 0</pose>
           <geometry>
             <box>
-              <size>15.6 0.2 1.0</size>
+              <size>25.8 0.2 1.0</size>
             </box>
           </geometry>
           <material>
@@ -127,7 +127,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-7.0 0.9 0 0 0 0</pose>
+        <pose frame=''>-11.9 0.9 0 0 0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -136,7 +136,7 @@
         <collision name='Wall_1_Collision'>
           <geometry>
             <box>
-              <size>0.2 1.6 1.0</size>
+              <size>0.2 1.8 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 0 0</pose>
@@ -158,7 +158,7 @@
           <pose frame=''>0 0 0.5 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.2 1.6 1.0</size>
+              <size>0.2 1.8 1.0</size>
             </box>
           </geometry>
           <material>
@@ -172,7 +172,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-14.9 0.0 0 0 0 0</pose>
+        <pose frame=''>-24.9 0.1 0 0 0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -181,7 +181,7 @@
         <collision name='Wall_2_Collision'>
           <geometry>
             <box>
-              <size>14.0 0.2 1.0</size>
+              <size>24.0 0.2 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 0 0</pose>
@@ -203,7 +203,7 @@
           <pose frame=''>0 0 0.5 0 0 0</pose>
           <geometry>
             <box>
-              <size>14.0 0.2 1.0</size>
+              <size>24.0 0.2 1.0</size>
             </box>
           </geometry>
           <material>
@@ -217,7 +217,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-7.8 -0.9 0 0 0 0</pose>
+        <pose frame=''>-13.0 -0.9 0 0 0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -226,7 +226,7 @@
         <collision name='Wall_3_Collision'>
           <geometry>
             <box>
-              <size>0.2 14.0 1.0</size>
+              <size>0.2 24.0 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 0 0</pose>
@@ -248,7 +248,7 @@
           <pose frame=''>0 0 0.5 0 0 0</pose>
           <geometry>
             <box>
-              <size>0.2 14.0 1.0</size>
+              <size>0.2 24.0 1.0</size>
             </box>
           </geometry>
           <material>
@@ -262,7 +262,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-0.9 -7.8 0 0 0 0</pose>
+        <pose frame=''>-0.9 -12.8 0 0 0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -271,7 +271,7 @@
         <collision name='Wall_4_Collision'>
           <geometry>
             <box>
-              <size>1.6 0.2 1.0</size>
+              <size>1.8 0.2 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 0 0</pose>
@@ -293,7 +293,7 @@
           <pose frame=''>0 0 0.5 0 0 0</pose>
           <geometry>
             <box>
-              <size>1.6 0.2 1.0</size>
+              <size>1.8 0.2 1.0</size>
             </box>
           </geometry>
           <material>
@@ -307,7 +307,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>0.0 -14.9 0 0 0 0</pose>
+        <pose frame=''>-0.1 -24.9 0 0 0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -316,7 +316,7 @@
         <collision name='Wall_5_Collision'>
           <geometry>
             <box>
-              <size>0.2 15.6 1.0</size>
+              <size>0.2 25.8 1.0</size>
             </box>
           </geometry>
           <pose frame=''>0 0 0.5 0 -0 0</pose>
@@ -338,7 +338,7 @@
           <pose frame=''>0 0 0.5 0 0 0</pose>
           <geometry>
             <box>
-              <size>0.2 15.6 1.0</size>
+              <size>0.2 25.8 1.0</size>
             </box>
           </geometry>
           <material>
@@ -352,7 +352,7 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>0.9 -7.0 0 0 0 1.57079632679</pose>
+        <pose frame=''>0.9 -12.1 0 0 0 1.57079632679</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
@@ -362,60 +362,60 @@
     <state world_name='default'>
       <sim_time>0 000000000</sim_time>
       <real_time>0 000000000</real_time>
-      <wall_time>1657724060 106979142</wall_time>
-      <iterations>69815</iterations>
+      <wall_time>0 000000000</wall_time>
+      <iterations>0</iterations>
       <model name='L-shaped'>
         <pose frame=''>0 0 0 0 0 0</pose>
         <scale>1 1 1</scale>
         <link name='Wall_0'>
-          <pose frame=''>-7.0 0.9 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>
+          <pose frame=''>-11.9 0.9 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>
         <link name='Wall_1'>
-          <pose frame=''>-14.9 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>
+          <pose frame=''>-24.9 0.1 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>
         <link name='Wall_2'>
-          <pose frame=''>-7.8 -0.9 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>
+          <pose frame=''>-13.0 -0.9 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>
         <link name='Wall_3'>
-          <pose frame=''>-0.9 -7.8 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>
+          <pose frame=''>-0.9 -12.8 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>
         <link name='Wall_4'>
-          <pose frame=''>0.0 -14.9 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>
+          <pose frame=''>-0.1 -24.9 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>
         <link name='Wall_5'>
-          <pose frame=''>0.9 -7.0 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>
+          <pose frame=''>0.9 -12.1 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='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <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>
+          <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>
+        <pose frame=''>0 0 10 0 0 0</pose>
       </light>
     </state>
     <gui fullscreen='0'>