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@@ -0,0 +1,165 @@
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+<sdf version='1.7'>
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+ <world name='default'>
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+ <light name='sun' type='directional'>
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+ <cast_shadows>1</cast_shadows>
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+ <pose>0 0 10 0 -0 0</pose>
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+ <diffuse>0.8 0.8 0.8 1</diffuse>
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+ <specular>0.2 0.2 0.2 1</specular>
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+ <attenuation>
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+ <range>1000</range>
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+ <constant>0.9</constant>
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+ <linear>0.01</linear>
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+ <quadratic>0.001</quadratic>
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+ </attenuation>
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+ <direction>-0.5 0.1 -0.9</direction>
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+ <spot>
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+ <inner_angle>0</inner_angle>
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+ <outer_angle>0</outer_angle>
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+ <falloff>0</falloff>
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+ </spot>
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+ </light>
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+ <model name='ground_plane'>
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+ <static>1</static>
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+ <link name='link'>
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+ <collision name='collision'>
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+ <geometry>
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+ <plane>
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+ <normal>0 0 1</normal>
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+ <size>100 100</size>
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+ </plane>
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+ </geometry>
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+ <surface>
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+ <contact>
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+ <collide_bitmask>65535</collide_bitmask>
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+ <ode/>
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+ </contact>
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+ <friction>
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+ <ode>
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+ <mu>100</mu>
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+ <mu2>50</mu2>
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+ </ode>
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+ <torsional>
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+ <ode/>
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+ </torsional>
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+ </friction>
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+ <bounce/>
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+ </surface>
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+ <max_contacts>10</max_contacts>
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+ </collision>
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+ <visual name='visual'>
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+ <cast_shadows>0</cast_shadows>
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+ <geometry>
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+ <plane>
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+ <normal>0 0 1</normal>
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+ <size>100 100</size>
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+ </plane>
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+ </geometry>
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+ <material>
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+ <script>
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+ <uri>file://media/materials/scripts/gazebo.material</uri>
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+ <name>Gazebo/Grey</name>
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+ </script>
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+ </material>
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+ </visual>
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+ <self_collide>0</self_collide>
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+ <enable_wind>0</enable_wind>
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+ <kinematic>0</kinematic>
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+ </link>
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+ </model>
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+ <gravity>0 0 -9.8</gravity>
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+ <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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+ <atmosphere type='adiabatic'/>
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+ <physics type='ode'>
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+ <max_step_size>0.001</max_step_size>
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+ <real_time_factor>1</real_time_factor>
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+ <real_time_update_rate>1000</real_time_update_rate>
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+ </physics>
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+ <scene>
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+ <ambient>0.4 0.4 0.4 1</ambient>
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+ <background>0.7 0.7 0.7 1</background>
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+ <shadows>1</shadows>
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+ </scene>
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+ <wind/>
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+ <spherical_coordinates>
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+ <surface_model>EARTH_WGS84</surface_model>
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+ <latitude_deg>0</latitude_deg>
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+ <longitude_deg>0</longitude_deg>
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+ <elevation>0</elevation>
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+ <heading_deg>0</heading_deg>
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+ </spherical_coordinates>
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+ <state world_name='default'>
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+ <sim_time>1355 659000000</sim_time>
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+ <real_time>207 33398038</real_time>
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+ <wall_time>1731305906 735108494</wall_time>
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+ <iterations>85256</iterations>
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+ <model name='fire_truck'>
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+ <pose>-0.0317 8.92034 0 -0.02472 -0.004552 1.38873</pose>
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+ <scale>1 1 1</scale>
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+ <link name='link'>
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+ <pose>-0.0317 8.92034 0 -0.02472 -0.004552 1.38873</pose>
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+ <velocity>0 0 0 0 -0 0</velocity>
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+ <acceleration>0 0 0 0 -0 0</acceleration>
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+ <wrench>0 0 0 0 -0 0</wrench>
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+ </link>
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+ </model>
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+ <model name='ground_plane'>
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+ <pose>0 0 0 0 -0 0</pose>
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+ <scale>1 1 1</scale>
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+ <link name='link'>
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+ <pose>0 0 0 0 -0 0</pose>
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+ <velocity>0 0 0 0 -0 0</velocity>
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+ <acceleration>0 0 0 0 -0 0</acceleration>
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+ <wrench>0 0 0 0 -0 0</wrench>
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+ </link>
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+ </model>
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+ <light name='sun'>
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+ <pose>0 0 10 0 -0 0</pose>
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+ </light>
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+ </state>
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+ <gui fullscreen='0'>
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+ <camera name='user_camera'>
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+ <pose>1.20818 -7.90824 0.003088 0 0.805796 -2.81561</pose>
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+ <view_controller>orbit</view_controller>
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+ <projection_type>perspective</projection_type>
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+ </camera>
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+ </gui>
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+ <model name='fire_truck'>
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+ <static>1</static>
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+ <link name='link'>
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+ <collision name='collision'>
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+ <geometry>
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+ <mesh>
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+ <scale>0.1 0.1 0.1</scale>
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+ <uri>model://fire_truck/meshes/fire_truck.obj</uri>
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+ </mesh>
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+ </geometry>
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+ <max_contacts>10</max_contacts>
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+ <surface>
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+ <contact>
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+ <ode/>
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+ </contact>
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+ <bounce/>
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+ <friction>
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+ <torsional>
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+ <ode/>
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+ </torsional>
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+ <ode/>
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+ </friction>
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+ </surface>
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+ </collision>
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+ <visual name='visual'>
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+ <geometry>
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+ <mesh>
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+ <scale>0.1 0.1 0.1</scale>
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+ <uri>model://fire_truck/meshes/fire_truck.obj</uri>
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+ </mesh>
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+ </geometry>
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+ </visual>
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+ <self_collide>0</self_collide>
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+ <enable_wind>0</enable_wind>
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+ <kinematic>0</kinematic>
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+ </link>
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+ <pose>-0.131712 11.7896 0 0 -0 0</pose>
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+ </model>
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+ </world>
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+</sdf>
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