<?xml version="1.0" ?>
<!--
  Ignition Gazebo level manager demo

  Start gazebo using the "--levels" flag.
  Start the simulation and try sending commands:

    ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 4.0}"

    ign topic -t "/model/vehicle_red/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 2.0}"
-->
<sdf version="1.6">
  <world name="levels">
    <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>

    <scene>
      <ambient>0.8 0.8 0.8 1.0</ambient>
      <background>0.34 0.39 0.43 1.0</background>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>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="stage">
      <pose>-12 0 -5 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>50 100 10</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>50 100 10</size>
            </box>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <!-- Grid tiles -->

    <model name="tile_1">
      <pose>20 -40 0 0 0 -1.5707963267948966</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

      </link>
    </model>

    <model name="tile_2">
      <pose>20 -20 0 0 0 -1.5707963267948966</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

      </link>
    </model>

    <model name="tile_3">
      <pose>20 0 0 0 0 0</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

      </link>
    </model>

    <model name="tile_4">
      <pose>20 20 0 0 0 0</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
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          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

      </link>
    </model>

    <model name="tile_20">
      <pose>80 40 0 0 0 0</pose>
      <static>true</static>
      <link name="link">

        <collision name="collision_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_0">
          <pose>0 0 -0.25 0 0 0</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_1">
          <pose>0 0 -0.25 0 0 1.57</pose>
          <geometry>
            <box><size>5 20 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_2">
          <pose>-2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_3">
          <pose>2.5 6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_4">
          <pose>-2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_5">
          <pose>2.5 -6.25 2 3.14 -1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_6">
          <pose>6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_7">
          <pose>-6.25 2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_8">
          <pose>6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

        <collision name="collision_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
        </collision>
        <visual name="visual_9">
          <pose>-6.25 -2.5 2 1.57 1.57 0</pose>
          <geometry>
            <box><size>5 7.5 0.5</size></box>
          </geometry>
          <material>
            <ambient>0 1 0 0.8</ambient>
            <diffuse>0 1 0 0.8</diffuse>
            <specular>1 1 1 0.8</specular>
          </material>
        </visual>

      </link>
    </model>



  <model name='vehicle_red'>
    <pose>0 0 0.325 0 0 0</pose>
    <link name='chassis'>
      <pose>-0.151427 -0 0.175 0 -0 0</pose>
      <inertial>
        <mass>1.14395</mass>
        <inertia>
          <ixx>0.126164</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.416519</iyy>
          <iyz>0</iyz>
          <izz>0.481014</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
        <material>
          <ambient>1.0 0.5 0.5 1</ambient>
          <diffuse>1.0 0.5 0.5 1</diffuse>
          <specular>1.0 0.5 0.5 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
      </collision>
    </link>

    <link name='left_wheel'>
      <pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <link name='right_wheel'>
      <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <link name='caster'>
      <pose>-0.957138 -0 -0.125 0 -0 0</pose>
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <joint name='left_wheel_joint' type='revolute'>
      <parent>chassis</parent>
      <child>left_wheel</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
        </limit>
      </axis>
    </joint>

    <joint name='right_wheel_joint' type='revolute'>
      <parent>chassis</parent>
      <child>right_wheel</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
        </limit>
      </axis>
    </joint>

    <joint name='caster_wheel' type='ball'>
      <parent>chassis</parent>
      <child>caster</child>
    </joint>

    <plugin
      filename="ignition-gazebo-diff-drive-system"
      name="ignition::gazebo::systems::DiffDrive">
      <left_joint>left_wheel_joint</left_joint>
      <right_joint>right_wheel_joint</right_joint>
      <wheel_separation>1.25</wheel_separation>
      <wheel_radius>0.3</wheel_radius>
    </plugin>

  </model>

  <model name='vehicle_blue'>
    <pose>0 20 0.325 0 0 0</pose>
    <link name='chassis'>
      <pose>-0.151427 -0 0.175 0 -0 0</pose>
      <inertial>
        <mass>1.14395</mass>
        <inertia>
          <ixx>0.126164</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.416519</iyy>
          <iyz>0</iyz>
          <izz>0.481014</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
        <material>
          <ambient>0.5 0.5 1.0 1</ambient>
          <diffuse>0.5 0.5 1.0 1</diffuse>
          <specular>0.5 0.5 1.0 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <box>
            <size>2.01142 1 0.568726</size>
          </box>
        </geometry>
      </collision>
    </link>

    <link name='left_wheel'>
      <pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <link name='right_wheel'>
      <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.145833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.145833</iyy>
          <iyz>0</iyz>
          <izz>0.125</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.3</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <link name='caster'>
      <pose>-0.957138 -0 -0.125 0 -0 0</pose>
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
      <visual name='visual'>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <ambient>0.2 0.2 0.2 1</ambient>
          <diffuse>0.2 0.2 0.2 1</diffuse>
          <specular>0.2 0.2 0.2 1</specular>
        </material>
      </visual>
      <collision name='collision'>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
      </collision>
    </link>

    <joint name='left_wheel_joint' type='revolute'>
      <parent>chassis</parent>
      <child>left_wheel</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
        </limit>
      </axis>
    </joint>

    <joint name='right_wheel_joint' type='revolute'>
      <parent>chassis</parent>
      <child>right_wheel</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.79769e+308</lower>
          <upper>1.79769e+308</upper>
        </limit>
      </axis>
    </joint>

    <joint name='caster_wheel' type='ball'>
      <parent>chassis</parent>
      <child>caster</child>
    </joint>

    <plugin
      filename="ignition-gazebo-diff-drive-system"
      name="ignition::gazebo::systems::DiffDrive">
      <left_joint>left_wheel_joint</left_joint>
      <right_joint>right_wheel_joint</right_joint>
      <wheel_separation>1.25</wheel_separation>
      <wheel_radius>0.3</wheel_radius>
    </plugin>

  </model>


  <plugin name="ignition::gazebo" filename="dummy">

    <performer name="perf_vehicle_red">
      <ref>vehicle_red</ref>
      <geometry>
        <box>
          <size>2 2 2</size>
        </box>
      </geometry>
    </performer>

    <performer name="perf_vehicle_blue">
      <ref>vehicle_blue</ref>
      <geometry>
        <box>
          <size>2 2 2</size>
        </box>
      </geometry>
    </performer>



    <level name="level0">
      <pose>20 -40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_1</ref>
    </level>

    <level name="level1">
      <pose>20 -20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_2</ref>
    </level>

    <level name="level3">
      <pose>20 20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_4</ref>
    </level>

    <level name="level4">
      <pose>20 40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_5</ref>
    </level>

    <level name="level5">
      <pose>40 -40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_6</ref>
    </level>

    <level name="level6">
      <pose>40 -20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_7</ref>
    </level>

    <level name="level7">
      <pose>40 0 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_8</ref>
    </level>

    <level name="level8">
      <pose>40 20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_9</ref>
    </level>

    <level name="level9">
      <pose>40 40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_10</ref>
    </level>

    <level name="level10">
      <pose>60 -40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_11</ref>
    </level>

    <level name="level11">
      <pose>60 -20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_12</ref>
    </level>

    <level name="level12">
      <pose>60 0 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_13</ref>
    </level>

    <level name="level13">
      <pose>60 20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_14</ref>
    </level>

    <level name="level14">
      <pose>60 40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_15</ref>
    </level>

    <level name="level15">
      <pose>80 -40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_16</ref>
    </level>

    <level name="level16">
      <pose>80 -20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_17</ref>
    </level>

    <level name="level17">
      <pose>80 0 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_18</ref>
    </level>

    <level name="level18">
      <pose>80 20 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_19</ref>
    </level>

    <level name="level19">
      <pose>80 40 2.5 0 0 0</pose>
      <geometry>
        <box>
          <size>40 40 1000</size>
        </box>
      </geometry>
      <ref>tile_20</ref>
    </level>



  </plugin>

  </world>
</sdf>
