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        <link name='Wall_29'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
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        <link name='Wall_31'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_33'>
          <pose>4.53973 -5.69514 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_35'>
          <pose>6.74974 3.53486 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box'>
        <pose>-6.35985 -5.47044 0.499995 -1e-05 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-6.35985 -5.47044 0.499995 -1e-05 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
          <wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
        <pose>1.72376 5.13 0.5 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>1.72376 5.13 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.004709 -9.78112 9.78158 0.712677 -0.009414 -4.3e-05</acceleration>
          <wrench>-0.004709 -9.78112 9.78158 0 -0 0</wrench>
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      </model>
      <model name='unit_cylinder'>
        <pose>-2.08128 -5.46626 0.499997 3e-06 4e-06 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose>-2.08128 -5.46626 0.499997 3e-06 4e-06 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
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      </model>
      <model name='unit_cylinder_0'>
        <pose>3.24338 0.112286 0.499993 -3e-06 -4e-06 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
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          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>7.40665 -3.57041 31.6489 0 1.4618 3.1242</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
