<?xml version="1.0" ?>
<!--
  World containing a long tunnel and a vehicle.
-->
<sdf version="1.6">
  <world name="diff_drive">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <scene>
      <ambient>0.2 0.2 0.2 1.0</ambient>
      <background>0.34 0.39 0.43 1.0</background>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <!-- The base station / staging area -->
    <include>
      <static>true</static>
      <name>BaseStation</name>
      <pose>0 0 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
    </include>

    <!-- Fiducial marking the origin for artifacts reports -->
    <include>
      <name>artifact_origin</name>
      <pose>2 4 0.5 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fiducial</uri>
    </include>

    <!-- Tunnel tiles and artifacts -->
    <include>
      <name>tile_0</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>240.000000 240.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_1</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>260.000000 240.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_2</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall</uri>
      <pose>280.000000 240.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_3</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>300.000000 240.000000 -15.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>tile_4</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>160.000000 211.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_5</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>240.000000 220.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>radio_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio
      </uri>
      <pose>241.500000 220.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_6</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>300.000000 220.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_7</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>69.000000 200.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_8</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_9</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>100.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_10</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>120.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_11</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_12</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>160.000000 200.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_13</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>180.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_14</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_15</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>220.000000 200.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_16</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>240.000000 200.000000 -15.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_17</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>300.000000 200.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_18</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>160.000000 180.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>backpack_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack
      </uri>
      <pose>219.000000 202.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_19</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>260.000000 180.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_20</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 180.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_21</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>300.000000 180.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_22</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>320.000000 180.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_23</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>340.000000 180.000000 -15.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>tile_24</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall
      </uri>
      <pose>160.000000 160.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>phone_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Phone
      </uri>
      <pose>260.000000 160.000000 -14.996000 -1.570796 0 0.000000</pose>
    </include>

    <include>
      <name>tile_25</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>260.000000 160.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_26</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>300.000000 169.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_27</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>340.000000 160.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>toolbox_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Toolbox
      </uri>
      <pose>342.000000 160.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_28</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>60.000000 131.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_29</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>80.000000 131.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_30</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>160.000000 140.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>extinguisher_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Extinguisher
      </uri>
      <pose>158.000000 140.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_31</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>260.000000 149.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_32</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>340.000000 149.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_33</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>60.000000 120.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_34</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>80.000000 120.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_35</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>100.000000 120.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_36</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>120.000000 120.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_37</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 120.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_38</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>160.000000 120.000000 -15.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_39</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 100.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_40</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>200.000000 100.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_41</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>220.000000 100.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_42</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>240.000000 100.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_43</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>260.000000 100.000000 -15.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>radio_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio
      </uri>
      <pose>260.000000 82.300000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_44</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 80.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_45</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 80.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_46</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>260.000000 80.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_47</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>280.000000 80.000000 -15.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>tile_48</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6</uri>
      <pose>80.000000 60.000000 -15.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_49</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 60.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_50</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 60.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>toolbox_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Toolbox
      </uri>
      <pose>278.000000 60.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_51</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 40.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_52</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 40.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_53</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 40.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_54</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 20.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_55</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 20.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>phone_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Phone
      </uri>
      <pose>201.800000 20.000000 -14.996000 -1.570796 0 0.000000</pose>
    </include>

    <include>
      <name>tile_56</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 20.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_57</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>320.000000 20.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_58</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>340.000000 20.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_59</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>360.000000 20.000000 -20.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>electrical_box_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Electrical Box
      </uri>
      <pose>400.000000 -1.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_60</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>20.000000 0.000000 0.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_61</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6</uri>
      <pose>40.000000 0.000000 -5.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_62</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6</uri>
      <pose>60.000000 0.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_63</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>80.000000 0.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_64</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>100.000000 0.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_65</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>120.000000 0.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_66</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 0.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_67</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6</uri>
      <pose>160.000000 0.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_68</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>180.000000 0.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_69</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>200.000000 0.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_70</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>211.000000 0.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_71</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>269.000000 0.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_72</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>280.000000 0.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_73</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6</uri>
      <pose>300.000000 0.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_74</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>320.000000 0.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_75</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>340.000000 0.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_76</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1</uri>
      <pose>360.000000 0.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_77</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>380.000000 0.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_78</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>400.000000 0.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_79</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>411.000000 0.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_80</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 7</uri>
      <pose>80.000000 -20.000000 -10.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_81</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 -20.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_82</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 -20.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_83</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>320.000000 -20.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_84</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>340.000000 -20.000000 -20.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_85</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>360.000000 -20.000000 -20.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_86</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 -40.000000 -5.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_87</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 -40.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_88</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 -40.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>backpack_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack
      </uri>
      <pose>340.000000 -22.000000 -20.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_89</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>80.000000 -60.000000 -5.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_90</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>200.000000 -60.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_91</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>220.000000 -60.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_92</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>240.000000 -60.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_93</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>260.000000 -60.000000 -15.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_94</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>280.000000 -60.000000 -15.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_95</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>80.000000 -80.000000 -5.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_96</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 7</uri>
      <pose>100.000000 -80.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_97</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>120.000000 -80.000000 -10.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>phone_3</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Phone
      </uri>
      <pose>120.800000 -98.400000 -9.996000 1.570796 0 0.000000</pose>
    </include>

    <include>
      <name>valve_1</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Valve
      </uri>
      <pose>240.000000 -58.000000 -15.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_98</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>120.000000 -100.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_99</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>140.000000 -100.000000 -10.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>tile_100</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 -120.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>valve_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Valve
      </uri>
      <pose>141.750000 -119.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_101</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 -140.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_102</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Short
      </uri>
      <pose>140.000000 -160.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_103</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker</uri>
      <pose>280.000000 -169.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>electrical_box_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Electrical Box
      </uri>
      <pose>138.000000 -180.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_104</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 -180.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>backpack_3</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack
      </uri>
      <pose>180.000000 -198.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_105</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 -180.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_106</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>140.000000 -200.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_107</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>160.000000 -200.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_108</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>180.000000 -200.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_109</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>200.000000 -200.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_110</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>220.000000 -200.000000 -10.000000 0 0 4.712389</pose>
    </include>

    <include>
      <name>tile_111</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 -200.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_112</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>140.000000 -220.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_113</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>160.000000 -220.000000 -10.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>tile_114</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>220.000000 -220.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_115</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>280.000000 -220.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>extinguisher_2</name>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Extinguisher
      </uri>
      <pose>278.000000 -220.000000 -10.000000 0 0 0.000000</pose>
    </include>

    <include>
      <name>tile_116</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>220.000000 -240.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_117</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>240.000000 -240.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_118</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5</uri>
      <pose>260.000000 -240.000000 -10.000000 0 0 1.570796</pose>
    </include>

    <include>
      <name>tile_119</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2</uri>
      <pose>280.000000 -240.000000 -10.000000 0 0 3.141593</pose>
    </include>

    <include>
      <name>x1</name>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X1 UGV</uri>
      <pose>0 0 .2 0 0 0</pose>
    </include>

    <plugin name="ignition::gazebo" filename="dummy">
      <performer name="perf_x1">
        <ref>x1</ref>
        <geometry><box><size>2 2 2</size></box></geometry>
      </performer>

      <level name="level0">
        <ref>staging_area</ref>
        <ref>base_station</ref>
        <pose>0 0 0 0 0 0</pose>
        <geometry><box><size>80 80 100</size></box></geometry>
        <buffer>10</buffer>
      </level>
      <level name="level1">
        <ref>tile_0</ref>
        <ref>tile_1</ref>
        <ref>tile_2</ref>
        <ref>tile_3</ref>
        <ref>tile_5</ref>
        <ref>radio_1</ref>
        <ref>tile_6</ref>
        <ref>tile_15</ref>
        <ref>tile_16</ref>
        <ref>tile_17</ref>
        <ref>tile_19</ref>
        <ref>tile_20</ref>
        <ref>tile_21</ref>
        <ref>tile_22</ref>
        <ref>tile_23</ref>
        <ref>phone_1</ref>
        <ref>tile_25</ref>
        <ref>tile_26</ref>
        <ref>tile_27</ref>
        <ref>toolbox_1</ref>
        <ref>tile_31</ref>
        <ref>tile_32</ref>

        <pose>295 190 0 0 0 0</pose>
        <geometry><box><size>140 110 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level2">
        <ref>tile_4</ref>
        <ref>tile_5</ref>
        <ref>radio_1</ref>
        <ref>tile_7</ref>
        <ref>tile_8</ref>
        <ref>tile_9</ref>
        <ref>tile_10</ref>
        <ref>tile_11</ref>
        <ref>tile_12</ref>
        <ref>tile_13</ref>
        <ref>tile_14</ref>
        <ref>tile_15</ref>
        <ref>tile_16</ref>
        <ref>backpack_1</ref>

        <pose>155 200 0 0 0 0</pose>
        <geometry><box><size>200 30 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level3">
        <ref>tile_4</ref>
        <ref>tile_12</ref>
        <ref>tile_18</ref>
        <ref>tile_24</ref>
        <ref>tile_30</ref>
        <ref>tile_38</ref>
        <ref>extinguisher_1</ref>

        <pose>165 160 0 0 0 0</pose>
        <geometry><box><size>35 110 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level4">
        <ref>tile_28</ref>
        <ref>tile_29</ref>
        <ref>tile_30</ref>
        <ref>extinguisher_1</ref>
        <ref>tile_33</ref>
        <ref>tile_34</ref>
        <ref>tile_35</ref>
        <ref>tile_36</ref>
        <ref>tile_37</ref>
        <ref>tile_38</ref>

        <pose>110 130 0 0 0 0</pose>
        <geometry><box><size>140 45 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level5">
        <ref>tile_28</ref>
        <ref>tile_29</ref>
        <ref>tile_33</ref>
        <ref>tile_34</ref>
        <ref>tile_35</ref>
        <ref>tile_39</ref>
        <ref>tile_44</ref>
        <ref>tile_48</ref>
        <ref>tile_51</ref>
        <ref>tile_54</ref>
        <ref>tile_62</ref>
        <ref>tile_63</ref>
        <ref>tile_64</ref>
        <ref>tile_80</ref>
        <ref>tile_86</ref>
        <ref>tile_89</ref>
        <ref>tile_95</ref>
        <ref>tile_96</ref>

        <pose>90 30 0 0 0 0</pose>
        <geometry><box><size>50 230 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level6">
        <ref>tile_40</ref>
        <ref>tile_41</ref>
        <ref>tile_42</ref>
        <ref>tile_43</ref>
        <ref>radio_2</ref>
        <ref>tile_45</ref>
        <ref>tile_46</ref>
        <ref>tile_47</ref>
        <ref>tile_49</ref>
        <ref>tile_50</ref>
        <ref>toolbox_2</ref>
        <ref>tile_52</ref>
        <ref>tile_53</ref>
        <ref>tile_55</ref>
        <ref>phone_2</ref>
        <ref>tile_56</ref>
        <ref>tile_68</ref>
        <ref>tile_69</ref>
        <ref>tile_70</ref>
        <ref>tile_71</ref>
        <ref>tile_72</ref>
        <ref>tile_73</ref>
        <ref>tile_81</ref>
        <ref>tile_82</ref>
        <ref>tile_87</ref>
        <ref>tile_88</ref>
        <ref>tile_90</ref>
        <ref>tile_91</ref>
        <ref>tile_92</ref>
        <ref>tile_93</ref>
        <ref>tile_94</ref>
        <ref>valve_1</ref>

        <pose>240 20 0 0 0 0</pose>
        <geometry><box><size>120 180 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level7">
        <ref>staging_area</ref>
        <ref>base_station</ref>
        <ref>phone_2</ref>
        <ref>tile_60</ref>
        <ref>tile_61</ref>
        <ref>tile_62</ref>
        <ref>tile_63</ref>
        <ref>tile_64</ref>
        <ref>tile_65</ref>
        <ref>tile_66</ref>
        <ref>tile_67</ref>
        <ref>tile_68</ref>
        <ref>tile_69</ref>
        <ref>tile_70</ref>
        <pose>100 0 0 0 0 0</pose>
        <geometry><box><size>260 50 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level8">
        <ref>tile_57</ref>
        <ref>tile_58</ref>
        <ref>tile_59</ref>
        <ref>electrical_box_1</ref>
        <ref>tile_71</ref>
        <ref>tile_72</ref>
        <ref>tile_73</ref>
        <ref>tile_74</ref>
        <ref>tile_75</ref>
        <ref>tile_76</ref>
        <ref>tile_77</ref>
        <ref>tile_78</ref>
        <ref>tile_79</ref>
        <ref>tile_83</ref>
        <ref>tile_84</ref>
        <ref>tile_85</ref>
        <ref>backpack_2</ref>

        <pose>340 0 0 0 0 0</pose>
        <geometry><box><size>150 60 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

      <level name="level9">
        <ref>tile_89</ref>
        <ref>tile_95</ref>
        <ref>tile_96</ref>
        <ref>tile_97</ref>
        <ref>phone_3</ref>
        <ref>tile_98</ref>
        <ref>tile_99</ref>
        <ref>tile_100</ref>
        <ref>valve_2</ref>
        <ref>tile_101</ref>
        <ref>tile_102</ref>
        <ref>electrical_box_2</ref>
        <ref>tile_104</ref>
        <ref>tile_106</ref>
        <ref>tile_107</ref>
        <ref>tile_112</ref>
        <ref>tile_113</ref>

        <pose>110 -145 0 0 0 0</pose>
        <geometry><box><size>100 160 100</size></box></geometry>
        <buffer>10</buffer>
      </level>
      <level name="level10">
        <ref>tile_102</ref>
        <ref>electrical_box_2</ref>
        <ref>tile_103</ref>
        <ref>tile_104</ref>
        <ref>backpack_3</ref>
        <ref>tile_105</ref>
        <ref>tile_106</ref>
        <ref>tile_107</ref>
        <ref>tile_108</ref>
        <ref>tile_109</ref>
        <ref>tile_110</ref>
        <ref>tile_111</ref>
        <ref>tile_112</ref>
        <ref>tile_113</ref>
        <ref>tile_114</ref>
        <ref>extinguisher_2</ref>
        <ref>tile_115</ref>
        <ref>tile_116</ref>
        <ref>tile_117</ref>
        <ref>tile_118</ref>
        <ref>tile_119</ref>

        <pose>220 -200 0 0 0 0</pose>
        <geometry><box><size>175 100 100</size></box></geometry>
        <buffer>10</buffer>
      </level>

    </plugin>

  </world>
</sdf>
