world

<sdf version='1.6'>
  <world name='default'>
    <gui fullscreen='0'>
      <plugin name='keyboard' filename='libKeyboardGUIPlugin.so'/>
      <camera name='user_camera'>
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        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='cafe'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>0.254 0.254 0.254</scale>
              <uri>model://mcity/meshes/mcity.obj</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>0.254 0.254 0.254</scale>
              <uri>model://mcity/meshes/mcity.obj</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <sky/>
      <shadows>1</shadows>
    </scene>
    <audio>
      <device>default</device>
    </audio>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='Gas Station'>
      <static>1</static>
      <link name='link'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://gas_station/meshes/gas_station.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://gas_station/meshes/gas_station.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>model://gas_station/materials/scripts</uri>
              <uri>model://gas_station/materials/textures</uri>
              <name>GasStation/Diffuse</name>
            </script>
            <shader type='normal_map_object_space'>
              <normal_map>GasStation_Normal.png</normal_map>
            </shader>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
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    </model>
    <state world_name='default'>
      <sim_time>1507 390000000</sim_time>
      <real_time>221 311095939</real_time>
      <wall_time>1599151126 834352585</wall_time>
      <iterations>165683</iterations>
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      <model name='Construction Cone_0'>
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      </model>
      <model name='Dumpster'>
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        <scale>1 1 1</scale>
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      <model name='Dumpster_0'>
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      </model>
      <model name='Dumpster_1'>
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      <model name='Dumpster_2'>
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      </model>
      <model name='Dumpster_3'>
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                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='back_right_far_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/back_sonar/right_far_range</topicName>
            <frameName>back_right_far_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>-0.7 2.4 0.5 0 -0 1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='back_right_middle_sonar_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='back_right_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/back_sonar/right_middle_range</topicName>
            <frameName>back_right_middle_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>-0.24 2.4 0.5 0 -0 1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='center_laser_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>512</samples>
                <resolution>1</resolution>
                <min_angle>-3.14</min_angle>
                <max_angle>3.14</max_angle>
              </horizontal>
              <vertical>
                <samples>16</samples>
                <min_angle>-0.1</min_angle>
                <max_angle>-0.35</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>30</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name='center_laser' filename='libgazebo_ros_block_laser.so'>
            <topicName>/prius/center_laser/scan</topicName>
            <frameName>center_laser_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>0</visualize>
          <pose frame=''>0 0.4 1.8 0 0 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_camera_sensor' type='camera'>
          <update_rate>30</update_rate>
          <camera name='front_camera'>
            <horizontal_fov>1.39626</horizontal_fov>
            <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name='front_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>0</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>/prius/front_camera</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>/prius/front_camera/camera_info</cameraInfoTopicName>
            <frameName>front_camera_link_optical</frameName>
            <hackBaseline>0.07</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>0 -0.4 1.4 0 0.05 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_left_far_sonar_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='front_left_far_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/front_sonar/left_far_range</topicName>
            <frameName>front_left_far_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>0.7 -2.1 0.5 0 0 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_left_laser_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-2.2689</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>30</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name='front_left_laser' filename='libgazebo_ros_laser.so'>
            <topicName>/prius/front_left_laser/scan</topicName>
            <frameName>front_left_laser_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>0</visualize>
          <pose frame=''>1 -2.3 0.5 0 0.05 0</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_left_middle_sonar_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='front_left_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/front_sonar/left_middle_range</topicName>
            <frameName>front_left_middle_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>0.24 -2.3 0.5 0 0 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_right_far_sonar_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='front_right_far_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/front_sonar/right_far_range</topicName>
            <frameName>front_right_far_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>-0.7 -2.1 0.5 0 0 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_right_laser_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>2.2689</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>30</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name='front_right_laser' filename='libgazebo_ros_laser.so'>
            <topicName>/prius/front_right_laser/scan</topicName>
            <frameName>front_right_laser_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>0</visualize>
          <pose frame=''>-1 -2.3 0.5 -0 0.05 3.14</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='front_right_middle_sonar_sensor' type='ray'>
          <ray>
            <scan>
              <horizontal>
                <samples>1</samples>
                <resolution>1</resolution>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.2</min>
              <max>5</max>
              <resolution>0.1</resolution>
            </range>
          </ray>
          <plugin name='front_right_middle_sonar_sensor' filename='libgazebo_ros_range.so'>
            <topicName>/prius/front_sonar/right_middle_range</topicName>
            <frameName>front_right_middle_sonar_link</frameName>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <always_on>0</always_on>
          <update_rate>5</update_rate>
          <visualize>0</visualize>
          <pose frame=''>-0.24 -2.3 0.5 0 0 -1.5707</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='left_camera_sensor' type='camera'>
          <update_rate>30</update_rate>
          <camera name='left_camera'>
            <horizontal_fov>1.39626</horizontal_fov>
            <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name='left_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>0</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>/prius/left_camera</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>/prius/left_camera/camera_info</cameraInfoTopicName>
            <frameName>left_camera_link_optical</frameName>
            <hackBaseline>0.07</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>1 -0.7 1 0 0.05 1</pose>
        </sensor>
        <gravity>1</gravity>
        <velocity_decay/>
        <sensor name='right_camera_sensor' type='camera'>
          <update_rate>30</update_rate>
          <camera name='right_camera'>
            <horizontal_fov>1.39626</horizontal_fov>
            <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name='right_camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>0</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>/prius/right_camera</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>/prius/right_camera/camera_info</cameraInfoTopicName>
            <frameName>right_camera_link_optical</frameName>
            <hackBaseline>0.07</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-1 -0.7 1 0 0.05 2.1416</pose>
        </sensor>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='base_link_connection' type='revolute'>
        <child>chassis</child>
        <parent>base_link</parent>
        <axis>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
          <xyz>0 0 1</xyz>
        </axis>
        <physics>
          <ode>
            <limit>
              <cfm>0</cfm>
              <erp>0.2</erp>
            </limit>
          </ode>
        </physics>
      </joint>
      <link name='fl_axle'>
        <pose frame=''>2.86061 0.765877 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.004</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.004</iyy>
            <iyz>0</iyz>
            <izz>0.004</izz>
          </inertia>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_left_steer_joint' type='revolute'>
        <child>fl_axle</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='front_left_wheel'>
        <pose frame=''>2.86061 0.765877 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>11</mass>
          <inertia>
            <ixx>0.586312</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.335529</iyy>
            <iyz>0</iyz>
            <izz>0.335529</izz>
          </inertia>
        </inertial>
        <collision name='front_left_wheel_collision_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.31265</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+08</kp>
                <min_depth>0.005</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>0.9</mu>
                <mu2>0.9</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_left_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.01 0.01 0.01</scale>
              <uri>/home/animesh/try_ws/src/car_demo-master/prius_description/meshes/wheel.obj</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_left_wheel_joint' type='revolute'>
        <child>front_left_wheel</child>
        <parent>fl_axle</parent>
        <axis>
          <xyz>0.000796 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='fr_axle'>
        <pose frame=''>2.85939 -0.768123 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.004</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.004</iyy>
            <iyz>0</iyz>
            <izz>0.004</izz>
          </inertia>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_right_steer_joint' type='revolute'>
        <child>fr_axle</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='front_right_wheel'>
        <pose frame=''>2.85939 -0.768123 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>11</mass>
          <inertia>
            <ixx>0.586312</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.335529</iyy>
            <iyz>0</iyz>
            <izz>0.335529</izz>
          </inertia>
        </inertial>
        <collision name='front_right_wheel_collision_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.31265</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+08</kp>
                <min_depth>0.005</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>0.9</mu>
                <mu2>0.9</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='front_right_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.01 0.01 0.01</scale>
              <uri>/home/animesh/try_ws/src/car_demo-master/prius_description/meshes/wheel.obj</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='front_right_wheel_joint' type='revolute'>
        <child>front_right_wheel</child>
        <parent>fr_axle</parent>
        <axis>
          <xyz>0.000796 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='rear_left_wheel'>
        <pose frame=''>0.000632 0.794154 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>11</mass>
          <inertia>
            <ixx>0.586312</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.335529</iyy>
            <iyz>0</iyz>
            <izz>0.335529</izz>
          </inertia>
        </inertial>
        <collision name='rear_left_wheel_collision_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.31265</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+08</kp>
                <min_depth>0.005</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>0.9</mu>
                <mu2>0.9</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_left_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.01 0.01 0.01</scale>
              <uri>/home/animesh/try_ws/src/car_demo-master/prius_description/meshes/wheel.obj</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='rear_left_wheel_joint' type='revolute'>
        <child>rear_left_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0.000796 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
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          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='rear_right_wheel'>
        <pose frame=''>-0.000631 -0.791845 0.3 0 -0 1.57</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>11</mass>
          <inertia>
            <ixx>0.586312</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.335529</iyy>
            <iyz>0</iyz>
            <izz>0.335529</izz>
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        </inertial>
        <collision name='rear_right_wheel_collision_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.31265</radius>
            </sphere>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+08</kp>
                <min_depth>0.005</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>0.9</mu>
                <mu2>0.9</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='rear_right_wheel_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.01 0.01 0.01</scale>
              <uri>/home/animesh/try_ws/src/car_demo-master/prius_description/meshes/wheel.obj</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='rear_right_wheel_joint' type='revolute'>
        <child>rear_right_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0.000796 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
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      <link name='steering_wheel'>
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        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
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        </inertial>
        <visual name='steering_wheel_visual'>
          <pose frame=''>0 0 0 1.3021 -0 0</pose>
          <geometry>
            <mesh>
              <scale>0.01 0.01 0.01</scale>
              <uri>/home/animesh/try_ws/src/car_demo-master/prius_description/meshes/steering_wheel.obj</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='steering_joint' type='revolute'>
        <child>steering_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>-0.964118 0.000768 0.265474</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <plugin name='pruis_hybrid_drive' filename='libPriusHybridPlugin.so'>
        <chassis>chassis</chassis>
        <front_left_wheel>front_left_wheel_joint</front_left_wheel>
        <front_right_wheel>front_right_wheel_joint</front_right_wheel>
        <front_left_wheel_steering>front_left_steer_joint</front_left_wheel_steering>
        <front_right_wheel_steering>front_right_steer_joint</front_right_wheel_steering>
        <back_left_wheel>rear_left_wheel_joint</back_left_wheel>
        <back_right_wheel>rear_right_wheel_joint</back_right_wheel>
        <steering_wheel>steering_joint</steering_wheel>
        <chassis_aero_force_gain>0.63045</chassis_aero_force_gain>
        <front_torque>859.4004393000001</front_torque>
        <back_torque>0</back_torque>
        <front_brake_torque>1031.28052716</front_brake_torque>
        <back_brake_torque>687.5203514400001</back_brake_torque>
        <max_speed>37.998337013956565</max_speed>
        <min_gas_flow>8.981854013171626e-05</min_gas_flow>
        <gas_efficiency>0.371</gas_efficiency>
        <battery_charge_watt_hours>291</battery_charge_watt_hours>
        <battery_discharge_watt_hours>214</battery_discharge_watt_hours>
        <max_steer>0.6458</max_steer>
        <flwheel_steering_p_gain>1e4</flwheel_steering_p_gain>
        <frwheel_steering_p_gain>1e4</frwheel_steering_p_gain>
        <flwheel_steering_i_gain>0</flwheel_steering_i_gain>
        <frwheel_steering_i_gain>0</frwheel_steering_i_gain>
        <flwheel_steering_d_gain>3e2</flwheel_steering_d_gain>
        <frwheel_steering_d_gain>3e2</frwheel_steering_d_gain>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <plugin name='joint_state_publisher' filename='libgazebo_ros_joint_state_publisher.so'>
        <jointName>rear_right_wheel_joint, rear_left_wheel_joint, front_right_wheel_joint, front_left_wheel_joint, front_right_steer_joint, front_left_steer_joint, steering_joint</jointName>
        <updateRate>100.0</updateRate>
        <alwaysOn>1</alwaysOn>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <static>0</static>
      <plugin name='p3d' filename='libgazebo_ros_p3d.so'>
        <bodyName>base_link</bodyName>
        <topicName>base_pose_ground_truth</topicName>
        <frameName>map</frameName>
        <updateRate>100.0</updateRate>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>38 -57 0 0 -0 1.57</pose>
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      <static>1</static>
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        <collision name='collision'>
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              <size>7.5 0.2 2.8</size>
            </box>
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              <uri>model://grey_wall/materials/scripts</uri>
              <uri>model://grey_wall/materials/textures</uri>
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    <model name='Dumpster_0'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://dumpster/meshes/dumpster.dae</uri>
            </mesh>
          </geometry>
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        <visual name='visual'>
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    <model name='Construction Cone_0'>
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          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
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          <surface>
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        <visual name='visual'>
          <geometry>
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              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
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          <inertia>
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        <collision name='collision'>
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    <model name='Dumpster_3'>
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</sdf>