<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <plugin filename="libRubblePlugin.so" name="rubble">
      <bottom_right>-.5 -1 0.0</bottom_right>
      <top_left>0.5 1.0 0.4</top_left>
      <min_size>0.05 0.05 0.05</min_size>
      <max_size>0.2 0.2 0.2</max_size>
      <min_mass>0.1</min_mass>
      <max_mass>1.0</max_mass>
      <count>100</count>
    </plugin>
    <model name="right_wall">
      <static>true</static>
      <pose>0 -1.1 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>5 0.2 1.0</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 0.2 1.0</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
    <model name="left_wall">
      <static>true</static>
      <pose>0 1.1 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>5 0.2 1.0</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 0.2 1.0</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
