burning_building_rubble.world

<sdf version='1.6'>
  <world name='default'>

    <!-- Include the voxblox_ground_truth_plugin in this world in order to use it-->
    <plugin name="voxblox_ground_truth_plugin" filename="libvoxblox_ground_truth_plugin.so"/>

    <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>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode/>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </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>
      <shadows>1</shadows>
    </scene>
    <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='asphalt_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>0.058806 -0.094526 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_0'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>19.9513 -0.10756 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_1'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>0.022641 -20.0628 0 0 -0 0</pose>
    </model>
    <model name='asphalt_plane_2'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>model://asphalt_plane/materials/scripts</uri>
              <uri>model://asphalt_plane/materials/textures</uri>
              <name>vrc/asphalt</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <pose frame=''>19.9368 -20.0754 0 0 -0 0</pose>
    </model>
    <model name='simple_building'>
      <pose frame=''>2.07131 -24.3476 0 0 -0 0</pose>
      <link name='Floor_1'>
        <pose frame=''>0 0.011464 2.5 0 -0 0</pose>
        <visual name='Floor_1_Visual_0'>
          <pose frame=''>-3.37449 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.54112 6 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_1_Collision_0'>
          <geometry>
            <box>
              <size>1.54112 6 0.1</size>
            </box>
          </geometry>
          <pose frame=''>-3.37449 0 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_1_Visual_1'>
          <pose frame=''>0.77056 -0.869196 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>6.74898 4.26161 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_1_Collision_1'>
          <geometry>
            <box>
              <size>6.74898 4.26161 0.1</size>
            </box>
          </geometry>
          <pose frame=''>0.77056 -0.869196 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_1_Visual_2'>
          <pose frame=''>2.52056 2.1308 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>3.24898 1.73839 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_1_Collision_2'>
          <geometry>
            <box>
              <size>3.24898 1.73839 0.1</size>
            </box>
          </geometry>
          <pose frame=''>2.52056 2.1308 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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            <bounce/>
            <friction>
              <torsional>
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              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_1_Visual_3'>
          <pose frame=''>-0.85393 2.92738 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>3.5 0.145251 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_1_Collision_3'>
          <geometry>
            <box>
              <size>3.5 0.145251 0.1</size>
            </box>
          </geometry>
          <pose frame=''>-0.85393 2.92738 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Floor_2'>
        <pose frame=''>0.000567 0 5 0 -0 0</pose>
        <visual name='Floor_2_Visual_0'>
          <pose frame=''>-3.37689 0 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.53518 6.02293 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_2_Collision_0'>
          <geometry>
            <box>
              <size>1.53518 6.02293 0.1</size>
            </box>
          </geometry>
          <pose frame=''>-3.37689 0 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
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              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='Floor_2_Visual_1'>
          <pose frame=''>0.767592 -1.4216 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>6.75378 3.17973 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_2_Collision_1'>
          <geometry>
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            </box>
          </geometry>
          <pose frame=''>0.767592 -1.4216 0.05 0 -0 0</pose>
          <max_contacts>10</max_contacts>
          <surface>
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            <friction>
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          </surface>
        </collision>
        <visual name='Floor_2_Visual_2'>
          <pose frame=''>2.51759 1.58986 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>3.25378 2.8432 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
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              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_2_Collision_2'>
          <geometry>
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          <pose frame=''>2.51759 1.58986 0.05 0 -0 0</pose>
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          <surface>
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            <bounce/>
            <friction>
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        </collision>
        <visual name='Floor_2_Visual_3'>
          <pose frame=''>-0.859299 2.08986 0.05 0 -0 0</pose>
          <geometry>
            <box>
              <size>3.5 1.8432 0.1</size>
            </box>
          </geometry>
          <material>
            <script>
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              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Floor_2_Collision_3'>
          <geometry>
            <box>
              <size>3.5 1.8432 0.1</size>
            </box>
          </geometry>
          <pose frame=''>-0.859299 2.08986 0.05 0 -0 0</pose>
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          <surface>
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            <bounce/>
            <friction>
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          </surface>
        </collision>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='Stairs_0'>
        <visual name='Stairs_0_Visual_0'>
          <pose frame=''>0.779404 2.06964 0.083333 0 -0 -1.5708</pose>
          <geometry>
            <box>
              <size>1.59314 0.233333 0.166667</size>
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          <material>
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            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Stairs_0_Collision_0'>
          <geometry>
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          </geometry>
          <pose frame=''>0.779404 2.06964 0.083333 0 -0 -1.5708</pose>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
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            <bounce/>
            <friction>
              <torsional>
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          </surface>
        </collision>
        <visual name='Stairs_0_Visual_1'>
          <pose frame=''>0.54607 2.06964 0.25 0 -0 -1.5708</pose>
          <geometry>
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          <material>
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            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Stairs_0_Collision_1'>
          <geometry>
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          </geometry>
          <pose frame=''>0.54607 2.06964 0.25 0 -0 -1.5708</pose>
          <max_contacts>10</max_contacts>
          <surface>
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            <friction>
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        <visual name='Stairs_0_Visual_2'>
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          <geometry>
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            <ambient>1 1 1 1</ambient>
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        <collision name='Stairs_0_Collision_2'>
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        <visual name='Stairs_0_Visual_3'>
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          <geometry>
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              <name>Gazebo/Grey</name>
            </script>
            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
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          <surface>
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            <bounce/>
            <friction>
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        </collision>
        <visual name='Stairs_0_Visual_6'>
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              <name>Gazebo/Grey</name>
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            <ambient>1 1 1 1</ambient>
          </material>
        </visual>
        <collision name='Stairs_0_Collision_6'>
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