From 926ab8dcd22e046da36c813bd92873d54c7442d6 Mon Sep 17 00:00:00 2001
From: stevendes <steven.desvars@gmail.com>
Date: Tue, 15 Oct 2019 12:15:16 -0300
Subject: [PATCH] Adding new world

Added world and models
---
 .../materials/scripts/textures.material       |  14 +
 .../materials/textures/apriltag1.png          | Bin 0 -> 99 bytes
 .../Camera_world/Apriltag1/model.config       |  11 +
 .../models/Camera_world/Apriltag1/model.sdf   |  34 ++
 .../materials/scripts/textures.material       |  14 +
 .../materials/textures/apriltag2.png          | Bin 0 -> 97 bytes
 .../Camera_world/Apriltag2/model.config       |  11 +
 .../models/Camera_world/Apriltag2/model.sdf   |  34 ++
 .../materials/scripts/textures.material       |  14 +
 .../materials/textures/apriltag3.png          | Bin 0 -> 99 bytes
 .../Camera_world/Apriltag3/model.config       |  11 +
 .../models/Camera_world/Apriltag3/model.sdf   |  34 ++
 .../models/Camera_world/Walls/model.config    |  11 +
 ca_gazebo/models/Camera_world/Walls/model.sdf | 330 ++++++++++++++++
 ca_gazebo/worlds/camera_world.world           | 356 ++++++++++++++++++
 15 files changed, 874 insertions(+)
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag1/model.config
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag1/model.sdf
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag2/model.config
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag2/model.sdf
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag3/model.config
 create mode 100644 ca_gazebo/models/Camera_world/Apriltag3/model.sdf
 create mode 100644 ca_gazebo/models/Camera_world/Walls/model.config
 create mode 100644 ca_gazebo/models/Camera_world/Walls/model.sdf
 create mode 100644 ca_gazebo/worlds/camera_world.world

diff --git a/ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material b/ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material
new file mode 100644
index 000000000..53df6acc1
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material
@@ -0,0 +1,14 @@
+material Apriltag1
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag1.png
+        scale 1 1
+      }
+    }
+  }
+}
\ No newline at end of file
diff --git a/ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png b/ca_gazebo/models/Camera_world/Apriltag1/materials/textures/apriltag1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6f22a9c9782ddb1b16b7833b0ff6cba3ca662a2
GIT binary patch
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literal 0
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diff --git a/ca_gazebo/models/Camera_world/Apriltag1/model.config b/ca_gazebo/models/Camera_world/Apriltag1/model.config
new file mode 100644
index 000000000..8ea15b254
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Apriltag1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag1/model.sdf b/ca_gazebo/models/Camera_world/Apriltag1/model.sdf
new file mode 100644
index 000000000..6ed94e065
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag1/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Apriltag1'>
+  <static>1</static>
+    <link name="box">
+      <pose frame=''>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://Camera_world/Apriltag1/materials/scripts </uri>
+            <uri>model://Camera_world/Apriltag1/materials/textures </uri>
+            <name>Apriltag1</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material b/ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material
new file mode 100644
index 000000000..99fe87b19
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material
@@ -0,0 +1,14 @@
+material Apriltag2
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag2.png
+        scale 1 1
+      }
+    }
+  }
+}
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png b/ca_gazebo/models/Camera_world/Apriltag2/materials/textures/apriltag2.png
new file mode 100644
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literal 0
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diff --git a/ca_gazebo/models/Camera_world/Apriltag2/model.config b/ca_gazebo/models/Camera_world/Apriltag2/model.config
new file mode 100644
index 000000000..e62d50649
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag2/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Apriltag2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag2/model.sdf b/ca_gazebo/models/Camera_world/Apriltag2/model.sdf
new file mode 100644
index 000000000..2d0829de9
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag2/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Apriltag2'>
+  <static>1</static>
+    <link name="box">
+      <pose frame=''>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://Camera_world/Apriltag2/materials/scripts </uri>
+            <uri>model://Camera_world/Apriltag2/materials/textures </uri>
+            <name>Apriltag2</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material b/ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material
new file mode 100644
index 000000000..5f2a260de
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material
@@ -0,0 +1,14 @@
+material Apriltag3
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag3.png
+        scale 1 1
+      }
+    }
+  }
+}
diff --git a/ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png b/ca_gazebo/models/Camera_world/Apriltag3/materials/textures/apriltag3.png
new file mode 100644
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GIT binary patch
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diff --git a/ca_gazebo/models/Camera_world/Apriltag3/model.config b/ca_gazebo/models/Camera_world/Apriltag3/model.config
new file mode 100644
index 000000000..f4d230230
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag3/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Apriltag3</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/ca_gazebo/models/Camera_world/Apriltag3/model.sdf b/ca_gazebo/models/Camera_world/Apriltag3/model.sdf
new file mode 100644
index 000000000..3a36dfb72
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Apriltag3/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Apriltag3'>
+  <static>1</static>
+    <link name="box">
+      <pose frame=''>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://Camera_world/Apriltag3/materials/scripts </uri>
+            <uri>model://Camera_world/Apriltag3/materials/textures </uri>
+            <name>Apriltag3</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/Camera_world/Walls/model.config b/ca_gazebo/models/Camera_world/Walls/model.config
new file mode 100644
index 000000000..922149ec9
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Walls/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Walls</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
\ No newline at end of file
diff --git a/ca_gazebo/models/Camera_world/Walls/model.sdf b/ca_gazebo/models/Camera_world/Walls/model.sdf
new file mode 100644
index 000000000..4aaa9bd39
--- /dev/null
+++ b/ca_gazebo/models/Camera_world/Walls/model.sdf
@@ -0,0 +1,330 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Walls'>
+  <static>1</static>
+    <link name='Wall_0'>
+    <pose frame=''>0 0 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_0_Visual'>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_0_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+      <link name='Wall_1'>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <pose frame=''>0 8 0 0 -0 0</pose>
+      <visual name='Wall_1_Visual'>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_1_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='Wall_2'>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <pose frame=''>4 4 0 0 -0 1.57</pose>
+      <visual name='Wall_2_Visual'>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_2_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    
+    <link name='Wall_3'>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <pose frame=''>-4 4 0 0 -0 1.57</pose>
+      <visual name='Wall_3_Visual'>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_3_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.4 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>8 0.2 2.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/ca_gazebo/worlds/camera_world.world b/ca_gazebo/worlds/camera_world.world
new file mode 100644
index 000000000..58e73e651
--- /dev/null
+++ b/ca_gazebo/worlds/camera_world.world
@@ -0,0 +1,356 @@
+<?xml version="1.0"?>
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 4 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>
+
+    <include>
+      <uri>model://Camera_world/Walls</uri>  
+    </include>
+
+    <include>
+      <uri>model://Camera_world/Apriltag1</uri>
+      <pose>3 7 0 0 0 0</pose>
+    </include>
+ 
+     <include>
+      <uri>model://Camera_world/Apriltag2</uri>
+      <pose>-3 7 0 0 0 0</pose>
+    </include>
+
+
+<!--   <model name='unit_box'>
+      <pose>0 0 2.5 0 -0 0</pose>
+      <link name='camera_0_link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+    </model> 
+
+    <light name='user_directional_light_0' type='directional'>
+      <pose>0 0 1 0 0 0</pose>
+    </light>
+
+
+    <model name='bigbox'>
+      <static>1</static>
+      <link name='camera_0_link'>
+        <pose>0 0 0 0 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>2 2 2</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <box>
+              <size>2 2 2</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 0</ambient>  
+          </material>          
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>0 4 2 0 -0 0</pose>
+    </model>-->
+    
+<!-- 
+    <model name='grey_wall_0'>
+      <static>1</static>
+      <link name='link'>
+        <pose>0 0 1.4 0 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>0 0 0 0 -0 0</pose>
+    </model>
+
+
+    <model name='grey_wall_1'>
+      <static>1</static>
+      <link name='link'>
+        <pose>0 0 1.4 0 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>0 8 0 0 -0 0</pose>
+    </model>
+
+    <model name='grey_wall_2'>
+      <static>1</static>
+      <link name='link'>
+        <pose>0 0 1.4 0 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>4 4 0 0 -0 -1.57</pose>
+    </model>
+
+    <model name='grey_wall_3'>
+      <static>1</static>
+      <link name='link'>
+        <pose>0 0 1.4 0 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <box>
+              <size>8 0.2 2.8</size>
+            </box>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0</linear>
+          <angular>0</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>-4 4 0 0 -0 -1.57</pose>
+    </model> -->
+
+
+
+    <model name='camera_0'>
+      <static>true</static>
+      <pose>2 0.2 1 0 0 1.57</pose>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_0_link' type='camera'>
+          <camera>
+            <save enabled="true">
+              <path>/create_ws/src/camera_save_tutorial2</path>
+            </save>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+        </sensor>
+      </link>
+    </model>
+
+    <model name='camera_1'>
+      <static>true</static>
+      <pose>-2 0.2 1 0 0 1.57</pose>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_1_link' type='camera'>
+          <camera>
+            <save enabled="true">
+              <path>/create_ws/src/camera_save_tutorial2</path>
+            </save>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+        </sensor>
+      </link>
+    </model>
+
+    <model name='camera_2'>
+      <static>true</static>
+      <pose>0 4 16 0 1.57 0</pose>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_2_link' type='camera'>
+          <camera>
+            <save enabled="true">
+              <path>/create_ws/src/camera_save_tutorial2</path>
+            </save>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+        </sensor>
+      </link>
+    </model>
+
+
+  </world>
+</sdf> 
\ No newline at end of file