[Jderobot-admin] jderobot-r1197 - in trunk/src/stable/components/gazeboserver: models models/circuitoMontmelo models/circuitoMontmelo/materials models/circuitoMontmelo/materials/scripts models/circuitoMontmelo/materials/textures models/paredesMontmelo worlds

jmplaza en jderobot.org jmplaza en jderobot.org
Mar Mar 18 17:09:47 CET 2014


Author: jmplaza
Date: 2014-03-18 17:09:46 +0100 (Tue, 18 Mar 2014)
New Revision: 1197

Added:
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config
   trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf
   trunk/src/stable/components/gazeboserver/models/paredesMontmelo/
   trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config
   trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf
   trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world
   trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world
Log:
[jmplaza] #197 nuevos mundos de gazebo y modelos para esos mundos 


Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/scripts/asphalt.material	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,18 @@
+material floor
+{
+	technique
+	{
+		pass
+		{
+			ambient 0.5 0.5 0.5 1.0
+			diffuse 0.5 0.5 0.5 1.0
+			specular 0.2 0.2 0.2 1.0 12.5
+
+			texture_unit
+			{
+				texture tarmac.png
+
+			}
+		}
+	}
+}

Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
===================================================================
(Binary files differ)


Property changes on: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/materials/textures/tarmac.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.config	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>CircuitoMontmelo</name>
+  <version>1.0</version>
+  <sdf version="1.4">model.sdf</sdf>
+
+  <author>
+    <name>Laura Martin</name>
+    <email></email>
+  </author>
+
+  <description>
+    Montmelo circuit.
+  </description>
+
+</model>

Added: trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf
===================================================================
--- trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/circuitoMontmelo/model.sdf	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="CircuitoMontmelo">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>20 20 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+          <box>
+            <size>20 20 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://circuitoMontmelo/materials/scripts</uri>
+            <uri>model://circuitoMontmelo/materials/textures</uri>
+            <name>floor</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>

Added: trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config
===================================================================
--- trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/paredesMontmelo/model.config	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>paredesMontmelo</name>
+  <version>1.4</version>
+  <sdf>paredesMontmelo.sdf</sdf>
+
+  <author>
+    <name>Laura Martín</name>
+    <email></email>
+  </author>
+
+  <description>
+	Montmelo circuit walls.
+  </description>
+
+  <depend>
+  </depend>
+</model>

Added: trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf
===================================================================
--- trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/models/paredesMontmelo/paredesMontmelo.sdf	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,672 @@
+<sdf version='1.4'>
+  <model name='paredesMontmelo'>
+    <link name='Wall_100'>
+      <collision name='Wall_100_Collision'>
+        <geometry>
+          <box>
+            <size>1.861250 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_100_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.861250 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>6.167900 -2.328510 0.000000 0.000000 0.000000 -1.570800</pose>
+    </link>
+    <link name='Wall_101'>
+      <collision name='Wall_101_Collision'>
+        <geometry>
+          <box>
+            <size>8.292260 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_101_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>8.292260 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>3.306850 -6.020180 0.000000 0.000000 0.000000 -2.356190</pose>
+    </link>
+    <link name='Wall_102'>
+      <collision name='Wall_102_Collision'>
+        <geometry>
+          <box>
+            <size>3.118520 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_102_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>3.118520 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>1.645600 -8.050600 0.000000 0.000000 0.000000 0.605545</pose>
+    </link>
+    <link name='Wall_103'>
+      <collision name='Wall_103_Collision'>
+        <geometry>
+          <box>
+            <size>2.710610 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_103_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.710610 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>4.045190 -7.589140 0.000000 0.000000 0.000000 -0.298499</pose>
+    </link>
+    <link name='Wall_104'>
+      <collision name='Wall_104_Collision'>
+        <geometry>
+          <box>
+            <size>2.512830 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_104_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.512830 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>5.798730 -8.973520 0.000000 0.000000 0.000000 -1.071450</pose>
+    </link>
+    <link name='Wall_105'>
+      <collision name='Wall_105_Collision'>
+        <geometry>
+          <box>
+            <size>3.375700 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_105_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>3.375700 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>5.429570 -11.280800 0.000000 0.000000 0.000000 -2.191050</pose>
+    </link>
+    <link name='Wall_106'>
+      <collision name='Wall_106_Collision'>
+        <geometry>
+          <box>
+            <size>2.968750 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_106_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.968750 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>3.122270 -12.572900 0.000000 0.000000 0.000000 3.141590</pose>
+    </link>
+    <link name='Wall_107'>
+      <collision name='Wall_107_Collision'>
+        <geometry>
+          <box>
+            <size>1.307500 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_107_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.307500 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>1.737890 -13.126600 0.000000 0.000000 0.000000 -1.570800</pose>
+    </link>
+    <link name='Wall_108'>
+      <collision name='Wall_108_Collision'>
+        <geometry>
+          <box>
+            <size>1.901780 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_108_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.901780 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>0.907267 -13.865000 0.000000 0.000000 0.000000 -2.922920</pose>
+    </link>
+    <link name='Wall_86'>
+      <collision name='Wall_86_Collision'>
+        <geometry>
+          <box>
+            <size>4.005290 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_86_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>4.005290 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>-4.907120 5.977760 0.000000 0.000000 0.000000 0.244979</pose>
+    </link>
+    <link name='Wall_87'>
+      <collision name='Wall_87_Collision'>
+        <geometry>
+          <box>
+            <size>2.453130 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_87_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.453130 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>-2.138360 7.085260 0.000000 0.000000 0.000000 0.610726</pose>
+    </link>
+    <link name='Wall_88'>
+      <collision name='Wall_88_Collision'>
+        <geometry>
+          <box>
+            <size>3.707090 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_88_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>3.707090 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>0.538099 7.731300 0.000000 0.000000 0.000000 0.000000</pose>
+    </link>
+    <link name='Wall_89'>
+      <collision name='Wall_89_Collision'>
+        <geometry>
+          <box>
+            <size>4.040940 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_89_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>4.040940 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>3.860610 6.623800 0.000000 0.000000 0.000000 -0.614663</pose>
+    </link>
+    <link name='Wall_90'>
+      <collision name='Wall_90_Collision'>
+        <geometry>
+          <box>
+            <size>2.842840 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_90_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.842840 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>5.983320 4.316510 0.000000 0.000000 0.000000 -1.138390</pose>
+    </link>
+    <link name='Wall_91'>
+      <collision name='Wall_91_Collision'>
+        <geometry>
+          <box>
+            <size>3.153340 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_91_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>3.153340 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>6.537070 1.640040 0.000000 0.000000 0.000000 -1.570800</pose>
+    </link>
+    <link name='Wall_92'>
+      <collision name='Wall_92_Collision'>
+        <geometry>
+          <box>
+            <size>2.045840 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_92_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.045840 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>5.614150 0.163373 0.000000 0.000000 0.000000 3.141590</pose>
+    </link>
+    <link name='Wall_93'>
+      <collision name='Wall_93_Collision'>
+        <geometry>
+          <box>
+            <size>3.065510 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_93_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>3.065510 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>3.306850 0.532541 0.000000 0.000000 0.000000 2.880990</pose>
+    </link>
+    <link name='Wall_94'>
+      <collision name='Wall_94_Collision'>
+        <geometry>
+          <box>
+            <size>1.367410 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_94_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.367410 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>1.368730 1.086290 0.000000 0.000000 0.000000 2.819840</pose>
+    </link>
+    <link name='Wall_95'>
+      <collision name='Wall_95_Collision'>
+        <geometry>
+          <box>
+            <size>2.360500 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_95_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.360500 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>0.445808 2.286080 0.000000 0.000000 0.000000 1.919570</pose>
+    </link>
+    <link name='Wall_96'>
+      <collision name='Wall_96_Collision'>
+        <geometry>
+          <box>
+            <size>2.017940 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_96_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>2.017940 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>-0.292527 2.470670 0.000000 0.000000 0.000000 -1.989020</pose>
+    </link>
+    <link name='Wall_97'>
+      <collision name='Wall_97_Collision'>
+        <geometry>
+          <box>
+            <size>1.141200 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_97_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.141200 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>-0.753986 1.178580 0.000000 0.000000 0.000000 -1.768190</pose>
+    </link>
+    <link name='Wall_98'>
+      <collision name='Wall_98_Collision'>
+        <geometry>
+          <box>
+            <size>6.467690 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_98_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>6.467690 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>2.199350 -0.021210 0.000000 0.000000 0.000000 -0.237836</pose>
+    </link>
+    <link name='Wall_99'>
+      <collision name='Wall_99_Collision'>
+        <geometry>
+          <box>
+            <size>1.381910 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+      </collision>
+      <visual name='Wall_99_Visual'>
+        <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>1.381910 0.200000 2.500000</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <velocity_decay>
+        <linear>0.000000</linear>
+        <angular>0.000000</angular>
+      </velocity_decay>
+      <pose>5.706440 -1.128710 0.000000 0.000000 0.000000 -0.674741</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>

Added: trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world
===================================================================
--- trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/worlds/montmelo-kobuki.world	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,2945 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0.000000 0.000000 1.000000</normal>
+              <size>100.000000 100.000000</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100.000000</mu>
+                <mu2>50.000000</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0.000000 0.000000 1.000000</normal>
+              <size>100.000000 100.000000</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <model name='turtlebot'>
+      <link name='rack'>
+        <inertial>
+          <pose>0.001453 -0.000453 0.029787 0.000000 0.000000 0.000000</pose>
+          <inertia>
+            <ixx>0.058640</ixx>
+            <ixy>0.000124</ixy>
+            <ixz>0.000615</ixz>
+            <iyy>0.058786</iyy>
+            <iyz>0.000014</iyz>
+            <izz>1.532440</izz>
+          </inertia>
+          <mass>2.234000</mass>
+        </inertial>
+        <collision name='plate_0_collision'>
+          <pose>-0.043340 0.000000 0.084757 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>0.233502 0.314845 0.006401</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='plate_0_visual'>
+          <pose>-0.043340 0.000000 0.084757 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/plate_0_logo.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='plate_1_collision'>
+          <pose>-0.002660 0.000000 0.141907 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>0.314856 0.314856 0.006401</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='plate_1_visual'>
+          <pose>-0.002660 0.000000 0.141907 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/plate_1_logo.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='plate_2_collision'>
+          <pose>-0.002660 0.000000 0.199108 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>0.314856 0.314856 0.006401</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='plate_2_visual'>
+          <pose>-0.002660 0.000000 0.199108 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/plate_1_logo.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='plate_3_collision'>
+          <pose>-0.015820 0.000000 0.405457 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>0.288000 0.315000 0.006401</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='plate_3_visual'>
+          <pose>-0.015820 0.000000 0.405457 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/plate_2_logo.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='spacer_0_collision'>
+          <pose>-0.002540 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.012700</radius>
+              <length>0.003175</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='spacer_0_visual'>
+          <pose>-0.002540 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='spacer_1_collision'>
+          <pose>-0.002540 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.012700</radius>
+              <length>0.003175</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='spacer_1_visual'>
+          <pose>-0.002540 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='spacer_2_collision'>
+          <pose>-0.072390 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.012700</radius>
+              <length>0.003175</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='spacer_2_visual'>
+          <pose>-0.072390 -0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='spacer_3_collision'>
+          <pose>-0.072390 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.012700</radius>
+              <length>0.003175</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='spacer_3_visual'>
+          <pose>-0.072390 0.111468 0.079992 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-02403-125_Spacer.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_0_collision'>
+          <pose>0.067640 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_0_visual'>
+          <pose>0.067640 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_1_collision'>
+          <pose>0.067640 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_1_visual'>
+          <pose>0.067640 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_2_collision'>
+          <pose>-0.052832 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_2_visual'>
+          <pose>-0.052832 -0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_3_collision'>
+          <pose>-0.052832 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_3_visual'>
+          <pose>-0.052832 0.131420 0.087980 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_4_collision'>
+          <pose>0.067640 0.131420 0.145130 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_4_visual'>
+          <pose>0.067640 0.131420 0.145130 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_5_collision'>
+          <pose>0.067640 -0.131420 0.145130 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='standoff_2in_5_visual'>
+          <pose>0.067640 -0.131420 0.145130 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebotJde2cam/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='standoff_2in_6_collision'>
+          <pose>-0.052832 -0.131420 0.145130 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.038100</radius>
+              <length>0.063500</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
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+          <pose>0.130000 0.000000 0.017000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <sphere>
+              <radius>0.018000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.000000</mu>
+                <mu2>0.000000</mu2>
+                <fdir1>0.000000 0.000000 0.000000</fdir1>
+                <slip1>0.000000</slip1>
+                <slip2>0.000000</slip2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='front_wheel_visual'>
+          <pose>0.130000 0.000000 0.017000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <sphere>
+              <radius>0.009000</radius>
+            </sphere>
+          </geometry>
+        </visual>
+        <collision name='rear_wheel_collision'>
+          <pose>-0.130000 0.000000 0.017000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <sphere>
+              <radius>0.015000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.000000</mu>
+                <mu2>0.000000</mu2>
+                <fdir1>0.000000 0.000000 0.000000</fdir1>
+                <slip1>0.000000</slip1>
+                <slip2>0.000000</slip2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='rear_wheel_visual'>
+          <pose>-0.130000 0.000000 0.017000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <sphere>
+              <radius>0.007500</radius>
+            </sphere>
+          </geometry>
+        </visual>
+        <sensor name='left_cliff_sensor' type='ray'>
+          <pose>0.070000 0.140000 0.027000 0.000000 1.570790 0.000000</pose>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>1</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>0.000000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.010000</min>
+              <max>0.040000</max>
+              <resolution>0.100000</resolution>
+            </range>
+          </ray>
+        </sensor>
+        <sensor name='leftfront_cliff_sensor' type='ray'>
+          <pose>0.150000 0.040000 0.027000 0.000000 1.570790 0.000000</pose>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>1</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>0.000000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.010000</min>
+              <max>0.040000</max>
+              <resolution>0.100000</resolution>
+            </range>
+          </ray>
+        </sensor>
+        <sensor name='right_cliff_sensor' type='ray'>
+          <pose>0.070000 -0.140000 0.027000 0.000000 1.570790 0.000000</pose>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>1</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>0.000000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.010000</min>
+              <max>0.040000</max>
+              <resolution>0.100000</resolution>
+            </range>
+          </ray>
+        </sensor>
+        <sensor name='rightfront_cliff_sensor' type='ray'>
+          <pose>0.150000 -0.040000 0.027000 0.000000 1.570790 0.000000</pose>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>1</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>0.000000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.010000</min>
+              <max>0.040000</max>
+              <resolution>0.100000</resolution>
+            </range>
+          </ray>
+        </sensor>
+        <sensor name='wall_sensor' type='ray'>
+          <pose>0.090000 -0.120000 0.059000 0.000000 0.000000 -1.000000</pose>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>1</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>0.000000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.016000</min>
+              <max>0.040000</max>
+              <resolution>0.100000</resolution>
+            </range>
+          </ray>
+        </sensor>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='create::left_wheel'>
+        <pose>0.000000 0.130000 0.032000 0.000000 0.000000 0.000000</pose>
+        <inertial>
+          <inertia>
+            <ixx>0.001000</ixx>
+            <ixy>0.000000</ixy>
+            <ixz>0.000000</ixz>
+            <iyy>0.001000</iyy>
+            <iyz>0.000000</iyz>
+            <izz>0.001000</izz>
+          </inertia>
+          <mass>0.010000</mass>
+        </inertial>
+        <collision name='collision'>
+          <pose>0.000000 0.000000 0.000000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033000</radius>
+              <length>0.023000</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>10.000000</mu>
+                <mu2>10.000000</mu2>
+                <fdir1>0.000000 0.000000 0.000000</fdir1>
+                <slip1>0.000000</slip1>
+                <slip2>0.000000</slip2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <pose>0.000000 0.000000 0.000000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033000</radius>
+              <length>0.023000</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='create::right_wheel'>
+        <pose>0.000000 -0.130000 0.032000 0.000000 0.000000 0.000000</pose>
+        <inertial>
+          <inertia>
+            <ixx>0.001000</ixx>
+            <ixy>0.000000</ixy>
+            <ixz>0.000000</ixz>
+            <iyy>0.001000</iyy>
+            <iyz>0.000000</iyz>
+            <izz>0.001000</izz>
+          </inertia>
+          <mass>0.010000</mass>
+        </inertial>
+        <collision name='collision'>
+          <pose>0.000000 0.000000 0.000000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033000</radius>
+              <length>0.023000</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>10.000000</mu>
+                <mu2>10.000000</mu2>
+                <fdir1>0.000000 0.000000 0.000000</fdir1>
+                <slip1>0.000000</slip1>
+                <slip2>0.000000</slip2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <pose>0.000000 0.000000 0.000000 -0.000000 1.570700 1.570700</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033000</radius>
+              <length>0.023000</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <joint name='create::left_wheel_hinge' type='revolute'>
+        <parent>create::base</parent>
+        <child>create::left_wheel</child>
+        <axis>
+          <xyz>0.000000 1.000000 0.000000</xyz>
+          <limit>
+            <lower>-10000000000000000.000000</lower>
+            <upper>10000000000000000.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='create::right_wheel_hinge' type='revolute'>
+        <parent>create::base</parent>
+        <child>create::right_wheel</child>
+        <axis>
+          <xyz>0.000000 1.000000 0.000000</xyz>
+          <limit>
+            <lower>-10000000000000000.000000</lower>
+            <upper>10000000000000000.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <plugin name='motors' filename='libmotorsTurtlebotJde.so'>
+        <left_joint>create::left_wheel_hinge</left_joint>
+        <right_joint>create::right_wheel_hinge</right_joint>
+        <torque>5</torque>
+      </plugin>
+      <plugin name='encoders' filename='libencodersTurtlebotJde.so'/>
+      <link name='kinect_model::kinect'>
+        <inertial>
+          <mass>0.300000</mass>
+          <inertia>
+            <ixx>1.000000</ixx>
+            <ixy>0.000000</ixy>
+            <ixz>0.000000</ixz>
+            <iyy>1.000000</iyy>
+            <iyz>0.000000</iyz>
+            <izz>1.000000</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>0.073000 0.276000 0.072000</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://kinectJde/meshes/kinect.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <sensor name='kinect_model::kinect' type='depth'>
+          <update_rate>5.000000</update_rate>
+          <camera name='__default__'>
+            <horizontal_fov>1.047198</horizontal_fov>
+            <image>
+              <width>640</width>
+              <height>480</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.050000</near>
+              <far>3.000000</far>
+            </clip>
+          </camera>
+          <plugin name='depth_camera_plugin' filename='libkinectPluginTurtlebotJde.so'/>
+        </sensor>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-0.087098 0.000000 0.303857 0.000000 0.000000 0.000000</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <joint name='create_rack' type='revolute'>
+        <parent>create::base</parent>
+        <child>rack</child>
+        <axis>
+          <xyz>0.000000 0.000000 1.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='kinect_rack' type='revolute'>
+        <parent>kinect_model::kinect</parent>
+        <child>rack</child>
+        <axis>
+          <xyz>0.000000 0.000000 1.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='joint_laser' type='revolute'>
+        <parent>rack</parent>
+        <child>laser</child>
+        <axis>
+          <xyz>0.000000 0.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='pan_joint_left' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_bottom_body_left</child>
+        <parent>camera_column_body_left</parent>
+        <axis>
+          <xyz>0.000000 1.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='tilt_joint_left' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_column_body_left</child>
+        <parent>camera_top_body_left</parent>
+        <axis>
+          <xyz>1.000000 0.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='camera_left' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_bottom_body_left</child>
+        <parent>rack</parent>
+        <axis>
+          <xyz>0.000000 0.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='pan_joint_right' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_bottom_body_right</child>
+        <parent>camera_column_body_right</parent>
+        <axis>
+          <xyz>0.000000 1.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='tilt_joint_right' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_column_body_right</child>
+        <parent>camera_top_body_right</parent>
+        <axis>
+          <xyz>1.000000 0.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <joint name='camera_right' type='revolute'>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <child>camera_bottom_body_right</child>
+        <parent>rack</parent>
+        <axis>
+          <xyz>0.000000 0.000000 0.000000</xyz>
+          <limit>
+            <lower>0.000000</lower>
+            <upper>0.000000</upper>
+          </limit>
+        </axis>
+      </joint>
+      <plugin name='pose3dencoders' filename='libpose3dencodersTurtlebotJde.so'>
+        <left_joint_pose3dencoders_pan>pan_joint_right</left_joint_pose3dencoders_pan>
+        <left_joint_pose3dencoders_tilt>tilt_joint_right</left_joint_pose3dencoders_tilt>
+        <right_joint_pose3dencoders_pan>pan_joint_left</right_joint_pose3dencoders_pan>
+        <right_joint_pose3dencoders_tilt>tilt_joint_left</right_joint_pose3dencoders_tilt>
+        <torque>5</torque>
+      </plugin>
+      <static>0</static>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>
+      <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>
+      <specular>0.100000 0.100000 0.100000 1.000000</specular>
+      <attenuation>
+        <range>1000.000000</range>
+        <constant>0.900000</constant>
+        <linear>0.010000</linear>
+        <quadratic>0.001000</quadratic>
+      </attenuation>
+      <direction>-0.500000 0.500000 -1.000000</direction>
+    </light>
+    <physics type='ode'>
+      <max_step_size>0.001000</max_step_size>
+      <real_time_factor>1.000000</real_time_factor>
+      <real_time_update_rate>1000.000000</real_time_update_rate>
+      <gravity>0.000000 0.000000 -9.800000</gravity>
+      <max_contacts>20</max_contacts>
+    </physics>
+    <scene>
+      <ambient>0.200000 0.200000 0.200000 1.000000</ambient>
+      <background>0.700000 0.700000 0.700000 1.000000</background>
+      <shadows>1</shadows>
+    </scene>
+    <model name='CircuitoMontmelo'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>20.000000 20.000000 0.010000</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>20.000000 20.000000 0.010000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://circuitoMontmelo/materials/scripts</uri>
+              <uri>model://circuitoMontmelo/materials/textures</uri>
+              <name>floor</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <pose>1.000000 -3.000000 0.000000 0.000000 0.000000 0.000000</pose>
+    </model>
+    <model name='paredesMontmelo'>
+      <link name='Wall_100'>
+        <collision name='Wall_100_Collision'>
+          <geometry>
+            <box>
+              <size>1.861250 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_100_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>1.861250 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>6.167900 -2.328510 0.000000 0.000000 0.000000 -1.570800</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_101'>
+        <collision name='Wall_101_Collision'>
+          <geometry>
+            <box>
+              <size>8.292260 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_101_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>8.292260 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>3.306850 -6.020180 0.000000 0.000000 0.000000 -2.356190</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_102'>
+        <collision name='Wall_102_Collision'>
+          <geometry>
+            <box>
+              <size>3.118520 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_102_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>3.118520 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
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+        <link name='camera_column_body_right'>
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+        <link name='camera_top_body_left'>
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+        <link name='camera_top_body_right'>
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+        <link name='create::base'>
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+          <velocity>-0.000025 -0.000052 0.003667 0.000884 0.001257 -0.000202</velocity>
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+        <link name='create::left_wheel'>
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+          <velocity>0.000038 -0.000078 0.016251 0.002166 0.001255 -0.000202</velocity>
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+        <link name='create::right_wheel'>
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+          <velocity>-0.000004 -0.000086 0.023194 0.002749 0.001237 -0.000211</velocity>
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+          <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
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+        <link name='kinect_model::kinect'>
+          <pose>-0.096754 -0.014123 0.307714 0.000172 -0.021245 0.002888</pose>
+          <velocity>0.000300 -0.000238 0.003503 0.000623 0.001125 -0.000008</velocity>
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+          <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
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+        <link name='laser'>
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+          <velocity>-0.000008 -0.000131 0.003265 0.000463 0.000339 0.000056</velocity>
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+          <wrench>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</wrench>
+        </link>
+        <link name='rack'>
+          <pose>-0.003222 -0.013800 0.005776 0.000172 -0.021245 0.002888</pose>
+          <velocity>-0.000042 -0.000056 0.003470 0.000953 0.000974 0.000066</velocity>
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+        </link>
+      </model>
+    </state>
+    <model name='BuildingDefaultName'>
+      <link name='Wall_11'>
+        <collision name='Wall_11_Collision'>
+          <geometry>
+            <box>
+              <size>2.645960 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_11_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>2.645960 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-6.823280 -10.652200 0.000000 0.000000 0.000000 -1.570800</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_12'>
+        <collision name='Wall_12_Collision'>
+          <geometry>
+            <box>
+              <size>4.300630 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_12_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>4.300630 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-5.047980 -12.900900 0.000000 0.000000 0.000000 -0.523919</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_13'>
+        <collision name='Wall_13_Collision'>
+          <geometry>
+            <box>
+              <size>4.934120 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_13_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>4.934120 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-0.905630 -13.926600 0.000000 0.000000 0.000000 0.000000</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_8'>
+        <collision name='Wall_8_Collision'>
+          <geometry>
+            <box>
+              <size>15.191400 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_8_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>15.191400 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-6.902180 -1.775710 0.000000 0.000000 0.000000 1.570800</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_9'>
+        <collision name='Wall_9_Collision'>
+          <geometry>
+            <box>
+              <size>2.346370 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+        <visual name='Wall_9_Visual'>
+          <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+          <geometry>
+            <box>
+              <size>2.346370 0.200000 2.500000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <pose>-5.876450 5.404360 0.000000 0.000000 0.000000 -0.298499</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <static>1</static>
+    </model>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>49.558200 -34.186100 18.809600 0.000000 0.275643 2.356190</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>

Added: trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world
===================================================================
--- trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world	                        (rev 0)
+++ trunk/src/stable/components/gazeboserver/worlds/montmelo-pioneer.world	2014-03-18 16:09:46 UTC (rev 1197)
@@ -0,0 +1,2128 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0.000000 0.000000 1.000000</normal>
+              <size>100.000000 100.000000</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100.000000</mu>
+                <mu2>50.000000</mu2>
+              </ode>
+            </friction>
+            <bounce/>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0.000000 0.000000 1.000000</normal>
+              <size>100.000000 100.000000</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>
+      <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>
+      <specular>0.100000 0.100000 0.100000 1.000000</specular>
+      <attenuation>
+        <range>1000.000000</range>
+        <constant>0.900000</constant>
+        <linear>0.010000</linear>
+        <quadratic>0.001000</quadratic>
+      </attenuation>
+      <direction>-0.500000 0.500000 -1.000000</direction>
+    </light>
+    <physics type='ode'>
+      <max_step_size>0.001000</max_step_size>
+      <real_time_factor>1.000000</real_time_factor>
+      <real_time_update_rate>1000.000000</real_time_update_rate>
+      <gravity>0.000000 0.000000 -9.800000</gravity>
+      <max_contacts>20</max_contacts>
+    </physics>
+    <scene>
+      <ambient>0.200000 0.200000 0.200000 1.000000</ambient>
+      <background>0.700000 0.700000 0.700000 1.000000</background>
+      <shadows>1</shadows>
+    </scene>
+    <model name='CircuitoMontmelo'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>20.000000 20.000000 0.010000</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>20.000000 20.000000 0.010000</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://circuitoMontmelo/materials/scripts</uri>
+              <uri>model://circuitoMontmelo/materials/textures</uri>
+              <name>floor</name>
+            </script>
+          </material>
+        </visual>
+        <velocity_decay>
+          <linear>0.000000</linear>
+          <angular>0.000000</angular>
+        </velocity_decay>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
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+      </joint>
+      <plugin name='motors' filename='libmotors.so'>
+        <left_joint>left_wheel_hinge</left_joint>
+        <right_joint>right_wheel_hinge</right_joint>
+        <torque>5</torque>
+      </plugin>
+      <plugin name='pose3dencoders' filename='libpose3dencoders.so'>
+        <left_joint_pose3dencoders_pan>pan_joint_right</left_joint_pose3dencoders_pan>
+        <left_joint_pose3dencoders_tilt>tilt_joint_right</left_joint_pose3dencoders_tilt>
+        <right_joint_pose3dencoders_pan>pan_joint_left</right_joint_pose3dencoders_pan>
+        <right_joint_pose3dencoders_tilt>tilt_joint_left</right_joint_pose3dencoders_tilt>
+        <torque>5</torque>
+      </plugin>
+      <plugin name='encoders' filename='libencoders.so'/>
+      <pose>-1.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <static>0</static>
+    </model>
+  </world>
+</sdf>



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