diff --git a/src/me5413_world/worlds/me5413_project.world b/src/me5413_world/worlds/me5413_project.world
index b5c63ebb..471b1e70 100755
--- a/src/me5413_world/worlds/me5413_project.world
+++ b/src/me5413_world/worlds/me5413_project.world
@@ -84,34 +84,16 @@
       <elevation>0</elevation>
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
-    <model name='me5413_hope_ending_2'>
-      <pose frame=''>8.6013 -5.98179 0 0 -0 0</pose>
-      <link name='Stairs_0'>
-        <visual name='Stairs_0_Visual_0'>
-          <pose frame=''>2.28032 0.665501 0.083333 0 -0 0</pose>
+    <model name='24fall_finalproject'>
+      <pose frame=''>8.55103 -5.1631 0 0 -0 0</pose>
+      <link name='Wall_11'>
+        <collision name='Wall_11_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>20.05 0.15 2.5</size>
             </box>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Stairs_0_Collision_0'>
-          <geometry>
-            <box>
-              <size>1 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>2.28032 0.665501 0.083333 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -126,11 +108,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_1'>
-          <pose frame=''>2.28032 0.432168 0.25 0 -0 0</pose>
+        <visual name='Wall_11_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>20.05 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -144,13 +126,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_1'>
+        <pose frame=''>-9.675 0 0 0 -0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_22'>
+        <collision name='Wall_22_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.727 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 0.432168 0.25 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -165,11 +153,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_2'>
-          <pose frame=''>2.28032 0.198834 0.416667 0 -0 0</pose>
+        <visual name='Wall_22_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.727 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -183,13 +171,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_2'>
+        <pose frame=''>-8.3505 6.277 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_24'>
+        <collision name='Wall_24_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>1.65 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 0.198834 0.416667 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -204,11 +198,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_3'>
-          <pose frame=''>2.28032 -0.034499 0.583333 0 -0 0</pose>
+        <visual name='Wall_24_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>1.65 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -222,13 +216,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_3'>
+        <pose frame=''>-4.312 6.277 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_27'>
+        <collision name='Wall_27_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>7.5 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -0.034499 0.583333 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -243,11 +243,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_4'>
-          <pose frame=''>2.28032 -0.267833 0.75 0 -0 0</pose>
+        <visual name='Wall_27_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>7.5 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -261,13 +261,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_4'>
+        <pose frame=''>-3.562 2.602 0 0 -0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_29'>
+        <collision name='Wall_29_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>7.5 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -0.267833 0.75 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -282,11 +288,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_5'>
-          <pose frame=''>2.28032 -0.501166 0.916667 0 -0 0</pose>
+        <visual name='Wall_29_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>7.5 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -300,13 +306,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_5'>
+        <pose frame=''>-5.989 -2.45 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_31'>
+        <collision name='Wall_31_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>10.2 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -0.501166 0.916667 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -321,11 +333,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_6'>
-          <pose frame=''>2.28032 -0.734499 1.08333 0 -0 0</pose>
+        <visual name='Wall_31_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>10.2 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -339,13 +351,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_6'>
+        <pose frame=''>-2.314 2.575 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_33'>
+        <collision name='Wall_33_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>6 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -0.734499 1.08333 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -360,11 +378,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_7'>
-          <pose frame=''>2.28032 -0.967833 1.25 0 -0 0</pose>
+        <visual name='Wall_33_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>6 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -378,13 +396,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_7'>
+        <pose frame=''>-5.239 7.6 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_36'>
+        <collision name='Wall_36_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>19.5 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -0.967833 1.25 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -399,11 +423,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_8'>
-          <pose frame=''>2.28032 -1.20117 1.41667 0 -0 0</pose>
+        <visual name='Wall_36_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>19.5 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -417,13 +441,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_8'>
+        <pose frame=''>1e-06 9.95 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_37'>
+        <collision name='Wall_37_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>20.05 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -1.20117 1.41667 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -438,11 +468,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_9'>
-          <pose frame=''>2.28032 -1.4345 1.58333 0 -0 0</pose>
+        <visual name='Wall_37_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>20.05 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -456,13 +486,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_9'>
+        <pose frame=''>9.675 0 0 0 -0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_39'>
+        <collision name='Wall_39_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>5.902 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -1.4345 1.58333 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -477,11 +513,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_10'>
-          <pose frame=''>2.28032 -1.66783 1.75 0 -0 0</pose>
+        <visual name='Wall_39_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>5.902 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -495,13 +531,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_10'>
+        <pose frame=''>0.562 7.6 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_46'>
+        <collision name='Wall_46_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>19.5 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -1.66783 1.75 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -516,11 +558,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_11'>
-          <pose frame=''>2.28032 -1.90117 1.91667 0 -0 0</pose>
+        <visual name='Wall_46_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>19.5 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -534,13 +576,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_11'>
+        <pose frame=''>1e-06 -9.95 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_48'>
+        <collision name='Wall_48_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.6 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -1.90117 1.91667 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -555,11 +603,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_12'>
-          <pose frame=''>2.28032 -2.1345 2.08333 0 -0 0</pose>
+        <visual name='Wall_48_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.6 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -573,13 +621,19 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_12'>
+        <pose frame=''>1.213 -2.45 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_50'>
+        <collision name='Wall_50_Collision'>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.35 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>2.28032 -2.1345 2.08333 0 -0 0</pose>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -594,11 +648,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Stairs_0_Visual_13'>
-          <pose frame=''>2.28032 -2.36783 2.25 0 -0 0</pose>
+        <visual name='Wall_50_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>2.35 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -612,32 +666,22 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_13'>
-          <geometry>
-            <box>
-              <size>1 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>2.28032 -2.36783 2.25 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='Stairs_0_Visual_14'>
-          <pose frame=''>2.28032 -2.60117 2.41667 0 -0 0</pose>
+        <pose frame=''>6.538 7.6 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+    </model>
+    <model name='window'>
+      <pose frame=''>15.6538 -7.62027 0 0 -0 0</pose>
+      <link name='Wall_0'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <visual name='Wall_0_Visual_0'>
+          <pose frame=''>-2.38596 0 1.25 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1 0.233333 0.166667</size>
+              <size>0.228084 0.15 2.5</size>
             </box>
           </geometry>
           <material>
@@ -651,39 +695,13 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <collision name='Stairs_0_Collision_14'>
-          <geometry>
-            <box>
-              <size>1 0.233333 0.166667</size>
-            </box>
-          </geometry>
-          <pose frame=''>2.28032 -2.60117 2.41667 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_100'>
-        <collision name='Wall_100_Collision'>
+        <collision name='Wall_0_Collision_0'>
           <geometry>
             <box>
-              <size>8.5 0.15 2.5</size>
+              <size>0.228084 0.15 2.5</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <pose frame=''>-2.38596 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -698,11 +716,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_100_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='Wall_0_Visual_1'>
+          <pose frame=''>0.114042 0 0.1 0 -0 0</pose>
           <geometry>
             <box>
-              <size>8.5 0.15 2.5</size>
+              <size>4.77192 0.15 0.2</size>
             </box>
           </geometry>
           <material>
@@ -716,19 +734,13 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-9.425 -6.175 0 0 -0 -1.5708</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_105'>
-        <collision name='Wall_105_Collision'>
+        <collision name='Wall_0_Collision_1'>
           <geometry>
             <box>
-              <size>9.75 0.15 2.5</size>
+              <size>4.77192 0.15 0.2</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <pose frame=''>0.114042 0 0.1 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -743,11 +755,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_105_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='Wall_0_Visual_2'>
+          <pose frame=''>2.38904 0 1.35 0 -0 0</pose>
           <geometry>
             <box>
-              <size>9.75 0.15 2.5</size>
+              <size>0.221916 0.15 2.3</size>
             </box>
           </geometry>
           <material>
@@ -761,19 +773,13 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>2.675 7.7 0 0 -0 0</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_107'>
-        <collision name='Wall_107_Collision'>
+        <collision name='Wall_0_Collision_2'>
           <geometry>
             <box>
-              <size>9.75 0.15 2.5</size>
+              <size>0.221916 0.15 2.3</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <pose frame=''>2.38904 0 1.35 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -788,11 +794,11 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_107_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='Wall_0_Visual_3'>
+          <pose frame=''>0.003084 0 2.4 0 -0 0</pose>
           <geometry>
             <box>
-              <size>9.75 0.15 2.5</size>
+              <size>4.55 0.15 0.2</size>
             </box>
           </geometry>
           <material>
@@ -806,19 +812,13 @@
             <layer>0</layer>
           </meta>
         </visual>
-        <pose frame=''>-2.125 2.9 0 0 -0 -1.5708</pose>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <link name='Wall_114'>
-        <collision name='Wall_114_Collision'>
+        <collision name='Wall_0_Collision_3'>
           <geometry>
             <box>
-              <size>8 0.15 2.5</size>
+              <size>4.55 0.15 0.2</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <pose frame=''>0.003084 0 2.4 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -833,37 +833,22 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_114_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>8 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <pose frame=''>-3.725 3.775 0 0 -0 -1.5708</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_117'>
-        <collision name='Wall_117_Collision'>
+      <static>1</static>
+    </model>
+    <model name='assembly_line'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
           <geometry>
-            <box>
-              <size>1 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
+            </mesh>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -878,37 +863,30 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_117_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>1 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-3.725 7.275 0 0 -0 -1.5708</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_118'>
-        <collision name='Wall_118_Collision'>
+      <pose frame=''>0.548515 -1.55401 0 0 -0 0</pose>
+    </model>
+    <model name='assembly_line_clone'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
           <geometry>
-            <box>
-              <size>2.25 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
+            </mesh>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -923,37 +901,30 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_118_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>2.25 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.001 0.001 0.001</scale>
+              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-4.775 6.85 0 0 -0 3.14159</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_120'>
-        <collision name='Wall_120_Collision'>
+      <pose frame=''>-1.03499 -5.10141 -1e-06 1.5708 -0 1.5708</pose>
+    </model>
+    <model name='pickup'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <box>
-              <size>2 0.15 2.5</size>
-            </box>
+            <mesh>
+              <uri>model://pickup/meshes/pickup.dae</uri>
+            </mesh>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -968,37 +939,31 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_120_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <box>
-              <size>2 0.15 2.5</size>
-            </box>
+            <mesh>
+              <uri>model://pickup/meshes/pickup.dae</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-8.35 6.85 0 0 -0 3.14159</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_125'>
-        <collision name='Wall_125_Collision'>
+      <pose frame=''>12.6147 -10.9756 0 0 -0 0</pose>
+    </model>
+    <model name='hatchback_blue'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose frame=''>0 0 0 0 -0 1.5708</pose>
           <geometry>
-            <box>
-              <size>2 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.0254 0.0254 0.0254</scale>
+              <uri>model://hatchback_blue/meshes/hatchback.obj</uri>
+            </mesh>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1013,56 +978,32 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_125_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 1.5708</pose>
           <geometry>
-            <box>
-              <size>2 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.0254 0.0254 0.0254</scale>
+              <uri>model://hatchback_blue/meshes/hatchback.obj</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>2.25 -2.79196 0 0 -0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_54'>
-        <pose frame=''>7.57504 -1.99775 0 0 -0 0</pose>
-        <visual name='Wall_54_Visual_0'>
-          <pose frame=''>-1.85719 0 1.25 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.03563 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
-        </visual>
-        <collision name='Wall_54_Collision_0'>
+      <pose frame=''>5.03346 -9.9151 0 0 -0 0</pose>
+    </model>
+    <model name='suv'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <box>
-              <size>0.03563 0.15 2.5</size>
-            </box>
+            <mesh>
+              <scale>0.06 0.06 0.06</scale>
+              <uri>model://suv/meshes/suv.obj</uri>
+            </mesh>
           </geometry>
-          <pose frame=''>-1.85719 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1077,31 +1018,42 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_54_Visual_1'>
-          <pose frame=''>0.017815 0 0.04 0 -0 0</pose>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <box>
-              <size>3.71437 0.15 0.08</size>
-            </box>
+            <mesh>
+              <scale>0.06 0.06 0.06</scale>
+              <uri>model://suv/meshes/suv.obj</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-            <ambient>1 1 1 1</ambient>
-          </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <collision name='Wall_54_Collision_1'>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>5.82342 -13.1378 0 0 -0 0</pose>
+    </model>
+    <model name='ladder_60deg_2rails'>
+      <static>1</static>
+      <link name='step0'>
+        <pose frame=''>0 0.15396 0.266667 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>3.71437 0.15 0.08</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0.017815 0 0.04 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1116,11 +1068,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_54_Visual_2'>
-          <pose frame=''>1.81282 0 1.29 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>0.12437 0.15 2.42</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1128,19 +1079,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <collision name='Wall_54_Collision_2'>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='step1'>
+        <pose frame=''>0 0.30792 0.533333 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.12437 0.15 2.42</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>1.81282 0 1.29 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1155,11 +1118,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_54_Visual_3'>
-          <pose frame=''>-0.04437 0 2.45 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>3.59 0.15 0.1</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1167,45 +1129,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <collision name='Wall_54_Collision_3'>
-          <geometry>
-            <box>
-              <size>3.59 0.15 0.1</size>
-            </box>
-          </geometry>
-          <pose frame=''>-0.04437 0 2.45 0 -0 0</pose>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_60'>
-        <collision name='Wall_60_Collision'>
+      <link name='step2'>
+        <pose frame=''>0 0.46188 0.8 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>1.25 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1220,11 +1168,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_60_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>1.25 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1232,25 +1179,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>1.325 -3.34196 0 0 -0 -1.5708</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_61'>
-        <collision name='Wall_61_Collision'>
+      <link name='step3'>
+        <pose frame=''>0 0.61584 1.06667 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>5.5 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1265,11 +1218,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_61_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>5.5 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1277,25 +1229,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-1.40201 -3.89196 0 0 -0 3.14159</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_92'>
-        <collision name='Wall_92_Collision'>
+      <link name='step4'>
+        <pose frame=''>0 0.7698 1.33333 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>12.5 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1310,11 +1268,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_92_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>12.5 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1322,25 +1279,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-9.425 4.175 0 0 -0 1.5708</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_93'>
-        <collision name='Wall_93_Collision'>
+      <link name='step5'>
+        <pose frame=''>0 0.92376 1.6 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>19 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1355,11 +1318,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_93_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>19 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1367,25 +1329,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-1e-06 10.35 0 0 -0 0</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_94'>
-        <collision name='Wall_94_Collision'>
+      <link name='step6'>
+        <pose frame=''>0 1.07772 1.86667 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>20.75 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1400,11 +1368,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_94_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>20.75 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1412,25 +1379,31 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>9.425 0.05 0 0 -0 -1.5708</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='Wall_98'>
-        <collision name='Wall_98_Collision'>
+      <link name='step7'>
+        <pose frame=''>0 1.23168 2.13333 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>9.06495 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -1445,11 +1418,10 @@
             </friction>
           </surface>
         </collision>
-        <visual name='Wall_98_Visual'>
-          <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>9.06495 0.15 2.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <material>
@@ -1457,28 +1429,30 @@
               <uri>file://media/materials/scripts/gazebo.material</uri>
               <name>Gazebo/Grey</name>
             </script>
-            <ambient>1 1 1 1</ambient>
           </material>
-          <meta>
-            <layer>0</layer>
-          </meta>
         </visual>
-        <pose frame=''>-4.96753 -2 0 0 -0 3.14159</pose>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <static>1</static>
-    </model>
-    <model name='pickup'>
-      <static>1</static>
-      <link name='link'>
+      <link name='landing'>
+        <pose frame=''>0 1.68564 2.4 0 -0 0</pose>
+        <inertial>
+          <mass>57.6072</mass>
+          <inertia>
+            <ixx>1.73518</ixx>
+            <iyy>3.89545</iyy>
+            <izz>5.6167</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
         <collision name='collision'>
-          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <mesh>
-              <uri>model://pickup/meshes/pickup.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.6 0.1016</size>
+            </box>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1495,28 +1469,29 @@
           </surface>
         </collision>
         <visual name='visual'>
-          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <mesh>
-              <uri>model://pickup/meshes/pickup.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.6 0.1016</size>
+            </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>9.22565 -16.4771 0 0 -0 0</pose>
-    </model>
-    <model name='pickup_0'>
-      <static>1</static>
-      <link name='link'>
+      <link name='left_side_wall'>
+        <pose frame=''>-0.45 0.69282 1.2 1.0472 -0 0</pose>
         <collision name='collision'>
-          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <mesh>
-              <uri>model://pickup/meshes/pickup.dae</uri>
-            </mesh>
+            <box>
+              <size>0.0508 2.85128 0.13</size>
+            </box>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1533,38 +1508,28 @@
           </surface>
         </collision>
         <visual name='visual'>
-          <pose frame=''>0 0 0 0 0 -1.5708</pose>
           <geometry>
-            <mesh>
-              <uri>model://pickup/meshes/pickup.dae</uri>
-            </mesh>
+            <box>
+              <size>0.0508 2.85128 0.13</size>
+            </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>14.5596 -12.9378 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing_0'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
+      <link name='right_side_wall'>
+        <pose frame=''>0.45 0.69282 1.2 1.0472 -0 0</pose>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.5 0.35 0.02</size>
+              <size>0.0508 2.85128 0.13</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -1581,12 +1546,31 @@
             </friction>
           </surface>
         </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
+            <box>
+              <size>0.0508 2.85128 0.13</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='left_railing_long'>
+        <pose frame=''>-0.45 0.34282 1.80622 -0.523599 0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>4.17128</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1603,39 +1587,31 @@
           </surface>
         </collision>
         <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
           <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>4.17128</length>
+            </cylinder>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>11.1091 -0.208149 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing_1'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
+      <link name='left_railing_upright0'>
+        <pose frame=''>-0.45 -0.274963 0.15875 1.0472 -0 0</pose>
+        <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.5 0.35 0.02</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1651,12 +1627,32 @@
             </friction>
           </surface>
         </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='left_railing_upright1'>
+        <pose frame=''>-0.45 0.186917 0.95875 1.0472 -0 0</pose>
+        <collision name='collision'>
+          <geometry>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1673,27 +1669,31 @@
           </surface>
         </collision>
         <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
           <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>1.35209 3.51011 0 0 -0 0</pose>
-    </model>
-    <model name='Dumpster'>
-      <link name='link'>
+      <link name='left_railing_upright2'>
+        <pose frame=''>-0.45 0.648797 1.75875 1.0472 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <mesh>
-              <scale>1.5 1.5 1.5</scale>
-              <uri>model://dumpster/meshes/dumpster.dae</uri>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1711,57 +1711,30 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <mesh>
-              <scale>1.5 1.5 1.5</scale>
-              <uri>model://dumpster/meshes/dumpster.dae</uri>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
-              <uri>model://dumpster/materials/scripts</uri>
-              <uri>model://dumpster/materials/textures</uri>
-              <name>Dumpster/Diffuse</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
             </script>
           </material>
         </visual>
         <self_collide>0</self_collide>
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1</mass>
-        </inertial>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>8.02492 -18.7491 0 0 -0 0</pose>
-    </model>
-    <model name='euro_pallet'>
-      <link name='link'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <inertial>
-          <mass>20</mass>
-          <inertia>
-            <ixx>2.43</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1.1</iyy>
-            <iyz>0</iyz>
-            <izz>3.47</izz>
-          </inertia>
-        </inertial>
+      <link name='left_railing_upright3'>
+        <pose frame=''>-0.45 1.11068 2.55875 1.0472 -0 0</pose>
         <collision name='collision'>
-          <pose frame=''>0 0 0.05 0 -0 0</pose>
           <geometry>
-            <mesh>
-              <uri>model://euro_pallet/meshes/pallet.dae</uri>
-              <scale>0.1 0.1 0.1</scale>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1778,40 +1751,31 @@
           </surface>
         </collision>
         <visual name='visual'>
-          <pose frame=''>0 0 0.05 0 -0 0</pose>
           <geometry>
-            <mesh>
-              <uri>model://euro_pallet/meshes/pallet.dae</uri>
-              <scale>0.1 0.1 0.1</scale>
-            </mesh>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>0.652089 -12.532 0 0 -0 0</pose>
-    </model>
-    <model name='ladder_70deg_0rails'>
-      <static>1</static>
-      <link name='step0'>
-        <pose frame=''>0 0.097059 0.266667 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='left_railing_landing_top'>
+        <pose frame=''>-0.45 1.68564 3.61244 1.5708 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.64826</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1829,9 +1793,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.64826</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -1844,24 +1809,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step1'>
-        <pose frame=''>0 0.194117 0.533333 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='left_railing_landing_upright_0'>
+        <pose frame=''>-0.45 1.38564 3.00622 0 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1879,9 +1834,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -1894,24 +1850,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step2'>
-        <pose frame=''>0 0.291176 0.8 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='left_railing_landing_upright_1'>
+        <pose frame=''>-0.45 1.98564 3.00622 0 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1929,9 +1875,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -1944,24 +1891,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step3'>
-        <pose frame=''>0 0.388235 1.06667 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_long'>
+        <pose frame=''>0.45 0.34282 1.80622 -0.523599 0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>4.17128</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -1979,9 +1916,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>4.17128</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -1994,24 +1932,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step4'>
-        <pose frame=''>0 0.485294 1.33333 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_upright0'>
+        <pose frame=''>0.45 -0.274963 0.15875 1.0472 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2029,9 +1957,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2044,24 +1973,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step5'>
-        <pose frame=''>0 0.582352 1.6 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_upright1'>
+        <pose frame=''>0.45 0.186917 0.95875 1.0472 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2079,9 +1998,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2094,24 +2014,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step6'>
-        <pose frame=''>0 0.679411 1.86667 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_upright2'>
+        <pose frame=''>0.45 0.648797 1.75875 1.0472 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2129,9 +2039,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2144,24 +2055,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='step7'>
-        <pose frame=''>0 0.77647 2.13333 0 -0 0</pose>
-        <inertial>
-          <mass>9.75482</mass>
-          <inertia>
-            <ixx>0.00957124</ixx>
-            <iyy>0.65963</iyy>
-            <izz>0.666842</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_upright3'>
+        <pose frame=''>0.45 1.11068 2.55875 1.0472 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2179,9 +2080,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.1016 0.0381</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.541218</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2194,24 +2096,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='landing'>
-        <pose frame=''>0 1.17353 2.4 0 -0 0</pose>
-        <inertial>
-          <mass>57.6072</mass>
-          <inertia>
-            <ixx>1.73518</ixx>
-            <iyy>3.89545</iyy>
-            <izz>5.6167</izz>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-          </inertia>
-        </inertial>
+      <link name='right_railing_landing_top'>
+        <pose frame=''>0.45 1.68564 3.61244 1.5708 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.9 0.6 0.1016</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.64826</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2229,9 +2121,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.6 0.1016</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>0.64826</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2244,13 +2137,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='left_side_wall'>
-        <pose frame=''>-0.45 0.436764 1.2 1.22173 -0 0</pose>
+      <link name='right_railing_landing_upright_0'>
+        <pose frame=''>0.45 1.38564 3.00622 0 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.0508 2.63403 0.13</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2268,9 +2162,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.0508 2.63403 0.13</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2283,13 +2178,14 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <link name='right_side_wall'>
-        <pose frame=''>0.45 0.436764 1.2 1.22173 -0 0</pose>
+      <link name='right_railing_landing_upright_1'>
+        <pose frame=''>0.45 1.98564 3.00622 0 -0 0</pose>
         <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.0508 2.63403 0.13</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2307,9 +2203,10 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.0508 2.63403 0.13</size>
-            </box>
+            <cylinder>
+              <radius>0.02413</radius>
+              <length>1.21244</length>
+            </cylinder>
           </geometry>
           <material>
             <script>
@@ -2322,502 +2219,395 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>1.20607 -10.1726 0 0 -0 0</pose>
+      <pose frame=''>9.7563 -9.68371 0 0 -0 0</pose>
     </model>
-    <model name='cinder_block'>
+    <model name='fire_hydrant'>
+      <static>1</static>
       <link name='link'>
-        <inertial>
-          <pose frame=''>0 0 0.1016 0 -0 0</pose>
-          <mass>5</mass>
-          <inertia>
-            <ixx>0.028705</ixx>
-            <ixy>0</ixy>
-            <iyy>0.073708</iyy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-            <izz>0.06908</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
+        <collision name='collision'>
           <geometry>
             <mesh>
-              <uri>model://cinder_block/meshes/cinder_block.dae</uri>
+              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
             </mesh>
           </geometry>
-        </visual>
-        <collision name='left'>
-          <pose frame=''>0 -0.08465 0.1016 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.43495 0.0339 0.2032</size>
-            </box>
-          </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='right'>
-          <pose frame=''>0 0.08465 0.1016 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.43495 0.0339 0.2032</size>
-            </box>
+            <mesh>
+              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
+            </mesh>
           </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='front'>
-          <pose frame=''>0.18625 0 0.1016 0 -0 0</pose>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>4.7239 -8.10353 0 0 -0 0</pose>
+    </model>
+    <model name='pine_tree'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
           <geometry>
-            <box>
-              <size>0.0339 0.1354 0.203</size>
-            </box>
+            <mesh>
+              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
+            </mesh>
           </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='middle'>
-          <pose frame=''>0 0 0.1016 0 -0 0</pose>
+        <visual name='branch'>
           <geometry>
-            <box>
-              <size>0.0339 0.1354 0.203</size>
-            </box>
+            <mesh>
+              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
+              <submesh>
+                <name>Branch</name>
+              </submesh>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://pine_tree/materials/scripts/</uri>
+              <uri>model://pine_tree/materials/textures/</uri>
+              <name>PineTree/Branch</name>
+            </script>
+          </material>
+        </visual>
+        <visual name='bark'>
+          <geometry>
+            <mesh>
+              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
+              <submesh>
+                <name>Bark</name>
+              </submesh>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://pine_tree/materials/scripts/</uri>
+              <uri>model://pine_tree/materials/textures/</uri>
+              <name>PineTree/Bark</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>16.576 -5.96157 0 0 -0 0</pose>
+    </model>
+    <model name='euro_pallet'>
+      <link name='link'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertial>
+          <mass>20</mass>
+          <inertia>
+            <ixx>2.43</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.1</iyy>
+            <iyz>0</iyz>
+            <izz>3.47</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <pose frame=''>0 0 0.05 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://euro_pallet/meshes/pallet.dae</uri>
+              <scale>0.1 0.1 0.1</scale>
+            </mesh>
           </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='back'>
-          <pose frame=''>-0.18625 0 0.1016 0 -0 0</pose>
+        <visual name='visual'>
+          <pose frame=''>0 0 0.05 0 -0 0</pose>
           <geometry>
-            <box>
-              <size>0.0339 0.1354 0.203</size>
-            </box>
+            <mesh>
+              <uri>model://euro_pallet/meshes/pallet.dae</uri>
+              <scale>0.1 0.1 0.1</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>9.14605 -8.75297 0 0 -0 0</pose>
+    </model>
+    <model name='Stop Sign'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://stop_sign/meshes/stop_sign.dae</uri>
+            </mesh>
           </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://stop_sign/meshes/stop_sign.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://stop_sign/materials/scripts</uri>
+              <uri>model://stop_sign/materials/textures</uri>
+              <name>StopSign/Diffuse</name>
+            </script>
+          </material>
+        </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>0.233889 -13.8759 0 0 -0 0</pose>
+      <pose frame=''>13.4882 -7.93014 0 0 -0 0</pose>
     </model>
-    <model name='cinder_block_2'>
+    <model name='Lamp Post'>
+      <static>1</static>
       <link name='link'>
-        <inertial>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
-          <mass>5</mass>
-          <inertia>
-            <ixx>0.06908</ixx>
-            <ixy>0</ixy>
-            <iyy>0.028705</iyy>
-            <ixz>0</ixz>
-            <iyz>0</iyz>
-            <izz>0.073708</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
+        <collision name='collision'>
           <geometry>
             <mesh>
-              <uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
+              <uri>model://lamp_post/meshes/lamp_post.dae</uri>
+              <scale>3 3 3</scale>
             </mesh>
           </geometry>
-        </visual>
-        <collision name='top'>
-          <pose frame=''>0 0 0.130175 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.19368 0.396875 0.0254</size>
-            </box>
-          </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='bottom'>
-          <pose frame=''>0 0 0.0127 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.19368 0.396875 0.0254</size>
-            </box>
+            <mesh>
+              <uri>model://lamp_post/meshes/lamp_post.dae</uri>
+              <scale>3 3 3</scale>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>8.63591 -7.87267 0 0 -0 0</pose>
+    </model>
+    <model name='postbox'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://postbox/meshes/postbox.dae</uri>
+            </mesh>
           </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='left'>
-          <pose frame=''>0 -0.185738 0.071438 0 -0 0</pose>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://postbox/meshes/postbox.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>0.400886 -9.4802 0 0 -0 0</pose>
+    </model>
+    <model name='ladder_70deg_0rails'>
+      <static>1</static>
+      <link name='step0'>
+        <pose frame=''>0 0.097059 0.266667 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.19368 0.0254 0.092075</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
+            <bounce/>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='right'>
-          <pose frame=''>0 0.185738 0.071438 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>0.19368 0.0254 0.092075</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='middle'>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.19368 0.0254 0.092075</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>0.305689 -14.9357 0 0 -0 0</pose>
-    </model>
-    <model name='cinder_block_wide'>
-      <link name='link'>
+      <link name='step1'>
+        <pose frame=''>0 0.194117 0.533333 0 -0 0</pose>
         <inertial>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
-          <mass>5</mass>
+          <mass>9.75482</mass>
           <inertia>
-            <ixx>0.0681466</ixx>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
             <ixy>0</ixy>
-            <iyy>0.0681466</iyy>
             <ixz>0</ixz>
             <iyz>0</iyz>
-            <izz>0.124808</izz>
           </inertia>
         </inertial>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://cinder_block_wide/meshes/cinder_block_wide.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name='top'>
-          <pose frame=''>0 0 0.130175 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.387354 0.387354 0.0254</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='bottom'>
-          <pose frame=''>0 0 0.0127 0 -0 0</pose>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.387354 0.387354 0.0254</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
           <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='left'>
-          <pose frame=''>0 -0.183355 0.071438 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.387354 0.020643 0.092075</size>
-            </box>
-          </geometry>
           <surface>
             <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
+              <ode/>
             </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
             <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <collision name='right'>
-          <pose frame=''>0 0.183355 0.071438 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.387354 0.020643 0.092075</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
             <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
               <torsional>
                 <ode/>
               </torsional>
+              <ode/>
             </friction>
-            <bounce/>
           </surface>
-          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='middle'>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>0.387354 0.0254 0.092075</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <max_vel>0.1</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>-0.069331 -14.4761 0 0 -0 0</pose>
-    </model>
-    <model name='fire_hydrant'>
-      <static>1</static>
-      <link name='link'>
+      <link name='step2'>
+        <pose frame=''>0 0.291176 0.8 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
         <collision name='collision'>
           <geometry>
-            <mesh>
-              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2835,43 +2625,39 @@
         </collision>
         <visual name='visual'>
           <geometry>
-            <mesh>
-              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>4.73925 -10.4166 0 0 -0 0</pose>
-    </model>
-    <model name='first_2015_trash_can'>
-      <link name='link'>
+      <link name='step3'>
+        <pose frame=''>0 0.388235 1.06667 0 -0 0</pose>
         <inertial>
-          <pose frame=''>0 0 0.3683 0 -0 0</pose>
-          <mass>4.83076</mass>
+          <mass>9.75482</mass>
           <inertia>
-            <ixx>0.281534</ixx>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
             <ixy>0</ixy>
             <ixz>0</ixz>
-            <iyy>0.281534</iyy>
             <iyz>0</iyz>
-            <izz>0.126223</izz>
           </inertia>
         </inertial>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
         <collision name='collision'>
           <geometry>
-            <mesh>
-              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2887,27 +2673,41 @@
             </friction>
           </surface>
         </collision>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>6.93573 1.22665 0 0 -0 0</pose>
-    </model>
-    <model name='drc_practice_organge_jersey_barrier'>
-      <static>1</static>
-      <link name='link'>
         <visual name='visual'>
           <geometry>
-            <mesh>
-              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='step4'>
+        <pose frame=''>0 0.485294 1.33333 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
         <collision name='collision'>
           <geometry>
-            <mesh>
-              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
-            </mesh>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -2923,35 +2723,40 @@
             </friction>
           </surface>
         </collision>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>1.76822 -14.6754 0 0 -0 0</pose>
-    </model>
-    <model name='control_console'>
-      <static>1</static>
-      <link name='link'>
         <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://control_console/meshes/console.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <visual name='backvisual'>
-          <pose frame=''>0 0.29388 1.30113 0 -0 0</pose>
           <geometry>
             <box>
-              <size>1.78 0.05 2.60225</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
         </visual>
-        <collision name='back_collision'>
-          <pose frame=''>0 0.29388 1.30113 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='step5'>
+        <pose frame=''>0 0.582352 1.6 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>1.78 0.05 2.60225</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -2968,32 +2773,40 @@
             </friction>
           </surface>
         </collision>
-        <collision name='base_collision'>
-          <pose frame=''>0 -0.14669 0.4128 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>1.78872 0.97373 0.8256</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='mid_collision'>
-          <pose frame=''>0 0.04268 1.48248 0 -0 0</pose>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='step6'>
+        <pose frame=''>0 0.679411 1.86667 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>1.70162 0.51806 1.5</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -3010,11 +2823,40 @@
             </friction>
           </surface>
         </collision>
-        <collision name='top_collision'>
-          <pose frame=''>0 -0.15709 2.31203 0 -0 0</pose>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='step7'>
+        <pose frame=''>0 0.77647 2.13333 0 -0 0</pose>
+        <inertial>
+          <mass>9.75482</mass>
+          <inertia>
+            <ixx>0.00957124</ixx>
+            <iyy>0.65963</iyy>
+            <izz>0.666842</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>1.78872 0.95292 0.62632</size>
+              <size>0.9 0.1016 0.0381</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -3031,11 +2873,40 @@
             </friction>
           </surface>
         </collision>
-        <collision name='panel_collision'>
-          <pose frame=''>0 -0.36311 0.90329 0.428775 -0 0</pose>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.9 0.1016 0.0381</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='landing'>
+        <pose frame=''>0 1.17353 2.4 0 -0 0</pose>
+        <inertial>
+          <mass>57.6072</mass>
+          <inertia>
+            <ixx>1.73518</ixx>
+            <iyy>3.89545</iyy>
+            <izz>5.6167</izz>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>1.33522 0.550273 0.1</size>
+              <size>0.9 0.6 0.1016</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -3052,11 +2923,29 @@
             </friction>
           </surface>
         </collision>
-        <collision name='left_lower_shoulder_collision'>
-          <pose frame=''>-0.7435 -0.19848 0.87 0.520485 -0 0</pose>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.9 0.6 0.1016</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='left_side_wall'>
+        <pose frame=''>-0.45 0.436764 1.2 1.22173 -0 0</pose>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.30172 0.7 0.5</size>
+              <size>0.0508 2.63403 0.13</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -3073,11 +2962,29 @@
             </friction>
           </surface>
         </collision>
-        <collision name='right_lower_shoulder_collision'>
-          <pose frame=''>0.7435 -0.19848 0.87 0.520485 -0 0</pose>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.0508 2.63403 0.13</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='right_side_wall'>
+        <pose frame=''>0.45 0.436764 1.2 1.22173 -0 0</pose>
+        <collision name='collision'>
           <geometry>
             <box>
-              <size>0.30172 0.7 0.5</size>
+              <size>0.0508 2.63403 0.13</size>
             </box>
           </geometry>
           <max_contacts>10</max_contacts>
@@ -3094,13 +3001,34 @@
             </friction>
           </surface>
         </collision>
-        <collision name='left_upper_shoulder_collision'>
-          <pose frame=''>-0.7435 -0.19152 1.99244 -0.620645 0 0</pose>
+        <visual name='visual'>
           <geometry>
             <box>
-              <size>0.30172 0.7 0.5</size>
+              <size>0.0508 2.63403 0.13</size>
             </box>
           </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>1.99939 -9.38192 0 0 -0 0</pose>
+    </model>
+    <model name='Dumpster'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <scale>1.5 1.5 1.5</scale>
+              <uri>model://dumpster/meshes/dumpster.dae</uri>
+            </mesh>
+          </geometry>
           <max_contacts>10</max_contacts>
           <surface>
             <contact>
@@ -3115,14 +3043,55 @@
             </friction>
           </surface>
         </collision>
-        <collision name='right_upper_shoulder_collision'>
-          <pose frame=''>0.7435 -0.19152 1.99244 -0.620645 0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.30172 0.7 0.5</size>
-            </box>
+            <mesh>
+              <scale>1.5 1.5 1.5</scale>
+              <uri>model://dumpster/meshes/dumpster.dae</uri>
+            </mesh>
           </geometry>
-          <max_contacts>10</max_contacts>
+          <material>
+            <script>
+              <uri>model://dumpster/materials/scripts</uri>
+              <uri>model://dumpster/materials/textures</uri>
+              <name>Dumpster/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1</mass>
+        </inertial>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>0.357272 -13.9208 0 0 -0 0</pose>
+    </model>
+    <model name='drc_practice_organge_jersey_barrier'>
+      <static>1</static>
+      <link name='link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
           <surface>
             <contact>
               <ode/>
@@ -3140,29 +3109,43 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>0.370578 1.74411 0 0 -0 0</pose>
+      <pose frame=''>-0.288893 -10.6607 0 0 -0 0</pose>
     </model>
-    <model name='cardboard_box_3'>
-      <pose frame=''>0.960521 -14.4424 0.15 0 -0 0</pose>
+    <model name='cinder_block_2'>
       <link name='link'>
         <inertial>
-          <mass>2</mass>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+          <mass>5</mass>
           <inertia>
-            <ixx>0.0416667</ixx>
+            <ixx>0.06908</ixx>
             <ixy>0</ixy>
+            <iyy>0.028705</iyy>
             <ixz>0</ixz>
-            <iyy>0.0566667</iyy>
             <iyz>0</iyz>
-            <izz>0.0683333</izz>
+            <izz>0.073708</izz>
           </inertia>
         </inertial>
-        <collision name='collision'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='top'>
+          <pose frame=''>0 0 0.130175 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.5 0.4 0.3</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
           <surface>
+            <contact>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
             <friction>
               <ode>
                 <mu>1</mu>
@@ -3172,228 +3155,294 @@
                 <ode/>
               </torsional>
             </friction>
-            <contact>
-              <ode>
-                <kp>1e+07</kp>
-                <kd>1</kd>
-                <min_depth>0.001</min_depth>
-                <max_vel>0.1</max_vel>
-              </ode>
-            </contact>
             <bounce/>
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 -0.15 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
-              <scale>1.25932 1.00745 0.755591</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <model name='cabinet'>
-      <static>1</static>
-      <link name='cabinet_bottom_plate'>
-        <inertial>
-          <pose frame=''>0 0 -1 0 -0 0</pose>
-          <inertia>
-            <ixx>2.05</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>2.05</iyy>
-            <iyz>0</iyz>
-            <izz>2.05</izz>
-          </inertia>
-          <mass>25</mass>
-        </inertial>
-        <collision name='cabinet_bottom_plate_geom'>
-          <pose frame=''>0 0 0.01 0 -0 0</pose>
+        <collision name='bottom'>
+          <pose frame=''>0 0 0.0127 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.45 0.45 0.02</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_visual'>
-          <pose frame=''>0 0 0.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.45 0.45 0.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
-          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+        <collision name='left'>
+          <pose frame=''>0 -0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.02 0.45 1.02</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
-          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.02 0.45 1.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
-          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+        <collision name='right'>
+          <pose frame=''>0 0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.45 0.02 1.02</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
-          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.45 0.02 1.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
-          <pose frame=''>0 0 0.51 0 -0 0</pose>
+        <collision name='middle'>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.45 0.45 0.02</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
-          <pose frame=''>0 0 0.51 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>-0.080865 -11.9407 0 0 -0 0</pose>
+    </model>
+    <model name='cinder_block'>
+      <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.1016 0 -0 0</pose>
+          <mass>5</mass>
+          <inertia>
+            <ixx>0.028705</ixx>
+            <ixy>0</ixy>
+            <iyy>0.073708</iyy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+            <izz>0.06908</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.45 0.45 0.02</size>
-            </box>
+            <mesh>
+              <uri>model://cinder_block/meshes/cinder_block.dae</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
         </visual>
-        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
-          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+        <collision name='left'>
+          <pose frame=''>0 -0.08465 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.45 0.02 1.02</size>
+              <size>0.43495 0.0339 0.2032</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
-          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+        <collision name='right'>
+          <pose frame=''>0 0.08465 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.45 0.02 1.02</size>
+              <size>0.43495 0.0339 0.2032</size>
             </box>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
-          <pose frame=''>0 0 1.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.45 0.45 0.02</size>
-            </box>
+          <surface>
+            <contact>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='front'>
+          <pose frame=''>0.18625 0 0.1016 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.0339 0.1354 0.203</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='middle'>
+          <pose frame=''>0 0 0.1016 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.0339 0.1354 0.203</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='back'>
+          <pose frame=''>-0.18625 0 0.1016 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.0339 0.1354 0.203</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>-0.136096 -12.4272 0 0 -0 0</pose>
+    </model>
+    <model name='Construction Cone'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <scale>10 10 10</scale>
+              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
+            </mesh>
           </geometry>
           <max_contacts>10</max_contacts>
           <surface>
@@ -3409,28 +3458,33 @@
             </friction>
           </surface>
         </collision>
-        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
-          <pose frame=''>0 0 1.01 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.45 0.45 0.02</size>
-            </box>
+            <mesh>
+              <scale>10 10 10</scale>
+              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
         </visual>
         <self_collide>0</self_collide>
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1</mass>
+        </inertial>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>2.08071 -12.7764 0 0 -0 0</pose>
+      <pose frame=''>2.42609 -11.4532 0 0 -0 0</pose>
     </model>
-    <model name='cardboard_box_4'>
-      <pose frame=''>2.48899 -15.9225 0.15 0 -0 0</pose>
+    <model name='cardboard_box'>
+      <pose frame=''>-0.522704 -13.0033 0.15 0 -0 0</pose>
       <link name='link'>
         <inertial>
           <mass>2</mass>
@@ -3485,35 +3539,54 @@
         <kinematic>0</kinematic>
       </link>
     </model>
-    <model name='Lamp Post'>
-      <static>1</static>
+    <model name='cardboard_box_0'>
+      <pose frame=''>0.126104 -13.2236 0.15 0 -0 0</pose>
       <link name='link'>
+        <inertial>
+          <mass>2</mass>
+          <inertia>
+            <ixx>0.0416667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0566667</iyy>
+            <iyz>0</iyz>
+            <izz>0.0683333</izz>
+          </inertia>
+        </inertial>
         <collision name='collision'>
           <geometry>
-            <mesh>
-              <uri>model://lamp_post/meshes/lamp_post.dae</uri>
-              <scale>3 3 3</scale>
-            </mesh>
+            <box>
+              <size>0.5 0.4 0.3</size>
+            </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <contact>
+              <ode>
+                <kp>1e+07</kp>
+                <kd>1</kd>
+                <min_depth>0.001</min_depth>
+                <max_vel>0.1</max_vel>
+              </ode>
+            </contact>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
         <visual name='visual'>
+          <pose frame=''>0 0 -0.15 0 -0 0</pose>
           <geometry>
             <mesh>
-              <uri>model://lamp_post/meshes/lamp_post.dae</uri>
-              <scale>3 3 3</scale>
+              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
+              <scale>1.25932 1.00745 0.755591</scale>
             </mesh>
           </geometry>
         </visual>
@@ -3521,433 +3594,357 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>-0.464871 -18.8588 0 0 -0 0</pose>
     </model>
-    <model name='jersey_barrier'>
-      <static>1</static>
+    <model name='cinder_block_2_0'>
       <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+          <mass>5</mass>
+          <inertia>
+            <ixx>0.06908</ixx>
+            <ixy>0</ixy>
+            <iyy>0.028705</iyy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+            <izz>0.073708</izz>
+          </inertia>
+        </inertial>
         <visual name='visual'>
           <geometry>
             <mesh>
-              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
+              <uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
             </mesh>
           </geometry>
         </visual>
-        <collision name='upright'>
-          <pose frame=''>0 0 0.5715 0 -0 0</pose>
+        <collision name='top'>
+          <pose frame=''>0 0 0.130175 0 -0 0</pose>
           <geometry>
             <box>
-              <size>4.06542 0.3063 1.143</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='base'>
-          <pose frame=''>0 0 0.032258 0 -0 0</pose>
+        <collision name='bottom'>
+          <pose frame=''>0 0 0.0127 0 -0 0</pose>
           <geometry>
             <box>
-              <size>4.06542 0.8107 0.064516</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='base2'>
-          <pose frame=''>0 0 0.1 0 -0 0</pose>
+        <collision name='left'>
+          <pose frame=''>0 -0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>4.06542 0.65 0.1</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='base3'>
-          <pose frame=''>0 0 0.2 0 -0 0</pose>
+        <collision name='right'>
+          <pose frame=''>0 0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>4.06542 0.5 0.1</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='left-angle'>
-          <pose frame=''>0 -0.224 0.2401 0.9 -0 0</pose>
-          <geometry>
-            <box>
-              <size>4.06542 0.5 0.064516</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <collision name='right-angle'>
-          <pose frame=''>0 0.224 0.2401 -0.9 0 0</pose>
+        <collision name='middle'>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>4.06542 0.5 0.064516</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>1.96787 -20.9579 0 0 -0 0</pose>
+      <pose frame=''>0.261476 -12.2534 0 0 -0 0</pose>
     </model>
-    <model name='bookshelf'>
-      <static>1</static>
+    <model name='cinder_block_wide'>
       <link name='link'>
         <inertial>
-          <mass>1</mass>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+          <mass>5</mass>
+          <inertia>
+            <ixx>0.0681466</ixx>
+            <ixy>0</ixy>
+            <iyy>0.0681466</iyy>
+            <ixz>0</ixz>
+            <iyz>0</iyz>
+            <izz>0.124808</izz>
+          </inertia>
         </inertial>
-        <collision name='back'>
-          <pose frame=''>0 0.005 0.6 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.9 0.01 1.2</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual1'>
-          <pose frame=''>0 0.005 0.6 0 -0 0</pose>
+        <visual name='visual'>
           <geometry>
-            <box>
-              <size>0.9 0.01 1.2</size>
-            </box>
+            <mesh>
+              <uri>model://cinder_block_wide/meshes/cinder_block_wide.dae</uri>
+            </mesh>
           </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
         </visual>
-        <collision name='left_side'>
-          <pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
+        <collision name='top'>
+          <pose frame=''>0 0 0.130175 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.02 0.4 1.2</size>
+              <size>0.387354 0.387354 0.0254</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
-          </surface>
-        </collision>
-        <visual name='visual2'>
-          <pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.02 0.4 1.2</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='right_side'>
-          <pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.02 0.4 1.2</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
             <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual3'>
-          <pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.02 0.4 1.2</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
         <collision name='bottom'>
-          <pose frame=''>0 -0.195 0.03 0 -0 0</pose>
+          <pose frame=''>0 0 0.0127 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.88 0.4 0.06</size>
+              <size>0.387354 0.387354 0.0254</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual4'>
-          <pose frame=''>0 -0.195 0.03 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.88 0.4 0.06</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='top'>
-          <pose frame=''>0 -0.195 1.19 0 -0 0</pose>
+        <collision name='left'>
+          <pose frame=''>0 -0.183355 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.88 0.4 0.02</size>
+              <size>0.387354 0.020643 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual5'>
-          <pose frame=''>0 -0.195 1.19 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.88 0.4 0.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='low_shelf'>
-          <pose frame=''>0 -0.195 0.43 0 -0 0</pose>
+        <collision name='right'>
+          <pose frame=''>0 0.183355 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.88 0.4 0.02</size>
+              <size>0.387354 0.020643 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual6'>
-          <pose frame=''>0 -0.195 0.43 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.88 0.4 0.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
-        <collision name='high_shelf'>
-          <pose frame=''>0 -0.195 0.8 0 -0 0</pose>
+        <collision name='middle'>
+          <pose frame=''>0 0 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.88 0.4 0.02</size>
+              <size>0.387354 0.0254 0.092075</size>
             </box>
           </geometry>
-          <max_contacts>10</max_contacts>
           <surface>
             <contact>
-              <ode/>
+              <ode>
+                <max_vel>0.1</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
             </contact>
-            <bounce/>
             <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
               <torsional>
                 <ode/>
               </torsional>
-              <ode/>
             </friction>
+            <bounce/>
           </surface>
+          <max_contacts>10</max_contacts>
         </collision>
-        <visual name='visual7'>
-          <pose frame=''>0 -0.195 0.8 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.88 0.4 0.02</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Wood</name>
-            </script>
-          </material>
-        </visual>
         <self_collide>0</self_collide>
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>1.52146 -9.812 0 0 -0 0</pose>
+      <pose frame=''>0.213048 -12.745 0 0 -0 0</pose>
     </model>
-    <model name='cinder_block_2_0'>
+    <model name='cinder_block_0'>
       <link name='link'>
         <inertial>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+          <pose frame=''>0 0 0.1016 0 -0 0</pose>
           <mass>5</mass>
           <inertia>
-            <ixx>0.06908</ixx>
+            <ixx>0.028705</ixx>
             <ixy>0</ixy>
-            <iyy>0.028705</iyy>
+            <iyy>0.073708</iyy>
             <ixz>0</ixz>
             <iyz>0</iyz>
-            <izz>0.073708</izz>
+            <izz>0.06908</izz>
           </inertia>
         </inertial>
         <visual name='visual'>
           <geometry>
             <mesh>
-              <uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
+              <uri>model://cinder_block/meshes/cinder_block.dae</uri>
             </mesh>
           </geometry>
         </visual>
-        <collision name='top'>
-          <pose frame=''>0 0 0.130175 0 -0 0</pose>
+        <collision name='left'>
+          <pose frame=''>0 -0.08465 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.19368 0.396875 0.0254</size>
+              <size>0.43495 0.0339 0.2032</size>
             </box>
           </geometry>
           <surface>
@@ -3970,11 +3967,11 @@
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <collision name='bottom'>
-          <pose frame=''>0 0 0.0127 0 -0 0</pose>
+        <collision name='right'>
+          <pose frame=''>0 0.08465 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.19368 0.396875 0.0254</size>
+              <size>0.43495 0.0339 0.2032</size>
             </box>
           </geometry>
           <surface>
@@ -3997,11 +3994,11 @@
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <collision name='left'>
-          <pose frame=''>0 -0.185738 0.071438 0 -0 0</pose>
+        <collision name='front'>
+          <pose frame=''>0.18625 0 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.19368 0.0254 0.092075</size>
+              <size>0.0339 0.1354 0.203</size>
             </box>
           </geometry>
           <surface>
@@ -4024,11 +4021,11 @@
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <collision name='right'>
-          <pose frame=''>0 0.185738 0.071438 0 -0 0</pose>
+        <collision name='middle'>
+          <pose frame=''>0 0 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.19368 0.0254 0.092075</size>
+              <size>0.0339 0.1354 0.203</size>
             </box>
           </geometry>
           <surface>
@@ -4051,11 +4048,11 @@
           </surface>
           <max_contacts>10</max_contacts>
         </collision>
-        <collision name='middle'>
-          <pose frame=''>0 0 0.071438 0 -0 0</pose>
+        <collision name='back'>
+          <pose frame=''>-0.18625 0 0.1016 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.19368 0.0254 0.092075</size>
+              <size>0.0339 0.1354 0.203</size>
             </box>
           </geometry>
           <surface>
@@ -4082,26 +4079,26 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>2.09817 -11.022 0 0 -0 0</pose>
+      <pose frame=''>0.62435 -11.8698 0 0 -0 0</pose>
     </model>
-    <model name='cinder_block_wide_0'>
+    <model name='cinder_block_2_1'>
       <link name='link'>
         <inertial>
           <pose frame=''>0 0 0.071438 0 -0 0</pose>
           <mass>5</mass>
           <inertia>
-            <ixx>0.0681466</ixx>
+            <ixx>0.06908</ixx>
             <ixy>0</ixy>
-            <iyy>0.0681466</iyy>
+            <iyy>0.028705</iyy>
             <ixz>0</ixz>
             <iyz>0</iyz>
-            <izz>0.124808</izz>
+            <izz>0.073708</izz>
           </inertia>
         </inertial>
         <visual name='visual'>
           <geometry>
             <mesh>
-              <uri>model://cinder_block_wide/meshes/cinder_block_wide.dae</uri>
+              <uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
             </mesh>
           </geometry>
         </visual>
@@ -4109,7 +4106,7 @@
           <pose frame=''>0 0 0.130175 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.387354 0.387354 0.0254</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
           <surface>
@@ -4136,7 +4133,7 @@
           <pose frame=''>0 0 0.0127 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.387354 0.387354 0.0254</size>
+              <size>0.19368 0.396875 0.0254</size>
             </box>
           </geometry>
           <surface>
@@ -4160,10 +4157,10 @@
           <max_contacts>10</max_contacts>
         </collision>
         <collision name='left'>
-          <pose frame=''>0 -0.183355 0.071438 0 -0 0</pose>
+          <pose frame=''>0 -0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.387354 0.020643 0.092075</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
           <surface>
@@ -4187,10 +4184,10 @@
           <max_contacts>10</max_contacts>
         </collision>
         <collision name='right'>
-          <pose frame=''>0 0.183355 0.071438 0 -0 0</pose>
+          <pose frame=''>0 0.185738 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.387354 0.020643 0.092075</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
           <surface>
@@ -4217,7 +4214,7 @@
           <pose frame=''>0 0 0.071438 0 -0 0</pose>
           <geometry>
             <box>
-              <size>0.387354 0.0254 0.092075</size>
+              <size>0.19368 0.0254 0.092075</size>
             </box>
           </geometry>
           <surface>
@@ -4244,10 +4241,10 @@
         <enable_wind>0</enable_wind>
         <kinematic>0</kinematic>
       </link>
-      <pose frame=''>1.34739 -13.9482 0 0 -0 0</pose>
+      <pose frame=''>-0.405067 -12.0539 0 0 -0 0</pose>
     </model>
-    <model name='cardboard_box_5'>
-      <pose frame=''>1.68386 -14.4954 0.15 0 -0 0</pose>
+    <model name='cardboard_box_1'>
+      <pose frame=''>1.12673 -13.2085 0.15 0 -0 0</pose>
       <link name='link'>
         <inertial>
           <mass>2</mass>
@@ -4302,936 +4299,574 @@
         <kinematic>0</kinematic>
       </link>
     </model>
-    <model name='cube_20k'>
-      <static>1</static>
-      <link name='link'>
-        <pose frame=''>0 0 0.5 0 -0 0</pose>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1</mass>
-        </inertial>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>10.9664 -0.63109 0 0 -0 0</pose>
-    </model>
-    <model name='cube_20k_0'>
-      <static>1</static>
-      <link name='link'>
-        <pose frame=''>0 0 0.5 0 -0 0</pose>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1</mass>
-        </inertial>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>13.8672 -0.587761 0 0 -0 0</pose>
-    </model>
-    <model name='cube_20k_1'>
-      <static>1</static>
-      <link name='link'>
-        <pose frame=''>0 0 0.5 0 -0 0</pose>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1</mass>
-        </inertial>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>11.0963 -3.00481 0 0 -0 0</pose>
-    </model>
-    <model name='cube_20k_2'>
-      <static>1</static>
-      <link name='link'>
-        <pose frame=''>0 0 0.5 0 -0 0</pose>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <uri>model://cube_20k/meshes/cube_20k.stl</uri>
-              <scale>0.5 0.5 0.5</scale>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1</mass>
-        </inertial>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>13.8801 -3.41 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing_2'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.5 0.35 0.02</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>10.9517 -2.60772 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing_3'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.5 0.35 0.02</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>14.0718 0.297531 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing_4'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.5 0.35 0.02</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>14.0382 -2.61924 0 0 -0 0</pose>
-    </model>
     <state world_name='default'>
-      <sim_time>12396 509000000</sim_time>
-      <real_time>279 992162597</real_time>
-      <wall_time>1675605429 780579803</wall_time>
-      <iterations>276087</iterations>
-      <model name='Dumpster'>
-        <pose frame=''>0.520774 -15.2649 0.001376 2e-06 0 -1.48672</pose>
+      <sim_time>5045 251000000</sim_time>
+      <real_time>5055 576242539</real_time>
+      <wall_time>1709020030 51340760</wall_time>
+      <iterations>5045251</iterations>
+      <model name='24fall_finalproject'>
+        <pose frame=''>8.55103 -5.1631 0 0 -0 0</pose>
         <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>0.520774 -15.2649 0.001376 2e-06 0 -1.48672</pose>
+        <link name='Wall_11'>
+          <pose frame=''>-1.12397 -5.1631 0 0 0 -1.5708</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>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
-      </model>
-      <model name='Lamp Post'>
-        <pose frame=''>-0.471155 -16.686 0 0 -0 1.57</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>-0.471155 -16.686 0 0 -0 1.57</pose>
+        <link name='Wall_22'>
+          <pose frame=''>0.20053 1.1139 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='assembly_line'>
-        <pose frame=''>-0.758894 -2.16487 -0 1.5708 -0 1.5708</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>-0.758894 -2.16487 -0 1.5708 -0 1.5708</pose>
+        <link name='Wall_24'>
+          <pose frame=''>4.23903 1.1139 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='assembly_line_clone'>
-        <pose frame=''>-0.759515 -4.91113 -0 1.5708 -0 1.5708</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>-0.759515 -4.91113 -0 1.5708 -0 1.5708</pose>
+        <link name='Wall_27'>
+          <pose frame=''>4.98903 -2.5611 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>
-      </model>
-      <model name='bookshelf'>
-        <pose frame=''>1.6528 -10.4577 0 0 -0 1.90828</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>1.6528 -10.4577 0 0 -0 1.90828</pose>
+        <link name='Wall_29'>
+          <pose frame=''>2.56203 -7.6131 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='cabinet'>
-        <pose frame=''>1.31076 -10.6484 0 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='cabinet_bottom_plate'>
-          <pose frame=''>1.31076 -10.6484 0 0 -0 0</pose>
+        <link name='Wall_31'>
+          <pose frame=''>6.23703 -2.5881 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_33'>
+          <pose frame=''>3.31203 2.4369 0 0 -0 3.14159</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_36'>
+          <pose frame=''>8.55103 4.7869 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>
+        <link name='Wall_37'>
+          <pose frame=''>18.226 -5.1631 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_39'>
+          <pose frame=''>9.11303 2.4369 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>
+        <link name='Wall_46'>
+          <pose frame=''>8.55103 -15.1131 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>
+        <link name='Wall_48'>
+          <pose frame=''>9.76403 -7.6131 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>
+        <link name='Wall_50'>
+          <pose frame=''>15.089 2.4369 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='cardboard_box_3'>
-        <pose frame=''>1.84422 -13.2289 0.149 0 0 -0.904783</pose>
+      <model name='Construction Cone'>
+        <pose frame=''>2.61798 -10.8089 -8e-06 -6e-06 -0 -0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.84422 -13.2289 0.149 0 0 -0.904783</pose>
+          <pose frame=''>2.61798 -10.8089 -8e-06 -6e-06 -0 -0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.1e-05 -9e-06 0 6.1e-05 -9.5e-05 0</acceleration>
-          <wrench>-2.1e-05 -1.7e-05 1e-06 0 -0 0</wrench>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cardboard_box_4'>
-        <pose frame=''>1.92649 -12.2737 0.149 0 -0 0</pose>
+      <model name='Dumpster'>
+        <pose frame=''>0.268558 -14.2065 0.001377 1e-06 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.92649 -12.2737 0.149 0 -0 0</pose>
+          <pose frame=''>0.268558 -14.2065 0.001377 1e-06 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-0 -1.9e-05 0 0.000128 -2e-06 0</acceleration>
-          <wrench>-1e-06 -3.8e-05 1e-06 0 -0 0</wrench>
+          <acceleration>0 0 -9.8 0 -0 0</acceleration>
+          <wrench>0 0 -9.8 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cardboard_box_5'>
-        <pose frame=''>1.35576 -13.845 0.291579 -0.000676 0.001114 -0.113827</pose>
+      <model name='Lamp Post'>
+        <pose frame=''>8.63591 -7.87267 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.35576 -13.845 0.291579 -0.000676 0.001114 -0.113827</pose>
+          <pose frame=''>8.63591 -7.87267 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>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cinder_block'>
-        <pose frame=''>2.0466 -11.7793 -2.4e-05 -0.000223 1.2e-05 1.13176</pose>
+      <model name='Stop Sign'>
+        <pose frame=''>13.4882 -7.93014 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>2.0466 -11.7793 -2.4e-05 -0.000223 1.2e-05 1.13176</pose>
+          <pose frame=''>13.4882 -7.93014 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>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cinder_block_2'>
-        <pose frame=''>1.79958 -11.1617 0.096833 0.057585 1.57076 0.393148</pose>
+      <model name='assembly_line'>
+        <pose frame=''>-1.05222 -2.05663 -1e-06 1.5708 -0 1.5708</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.79958 -11.1617 0.096833 0.057585 1.57076 0.393148</pose>
+          <pose frame=''>-1.05222 -2.05663 -1e-06 1.5708 -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>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cinder_block_2_0'>
-        <pose frame=''>2.12495 -11.3252 -0.000282 -0.001092 -0.000626 -0.153617</pose>
+      <model name='assembly_line_clone'>
+        <pose frame=''>-1.04946 -5.10141 -1e-06 1.5708 -0 1.5708</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>2.12495 -11.3252 -0.000282 -0.001092 -0.000626 -0.153617</pose>
+          <pose frame=''>-1.04946 -5.10141 -1e-06 1.5708 -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>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cinder_block_wide'>
-        <pose frame=''>0.772284 -11.447 0.193676 1.40527 -1.57079 -2.02048</pose>
+      <model name='cardboard_box'>
+        <pose frame=''>-0.522704 -13.0033 0.149 0 -0 0.057304</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0.772284 -11.447 0.193676 1.40527 -1.57079 -2.02048</pose>
+          <pose frame=''>-0.522704 -13.0033 0.149 0 -0 0.057304</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>
+          <acceleration>-1e-06 1.9e-05 -0 -0.000128 -1e-05 -0</acceleration>
+          <wrench>-2e-06 3.9e-05 -1e-06 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cinder_block_wide_0'>
-        <pose frame=''>1.34906 -13.9507 -0.000231 -0.000516 0.001195 0.022979</pose>
+      <model name='cardboard_box_0'>
+        <pose frame=''>0.126104 -13.2236 0.149 -0 -0 -0.246355</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.34906 -13.9507 -0.000231 -0.000516 0.001195 0.022979</pose>
+          <pose frame=''>0.126104 -13.2236 0.149 -0 -0 -0.246355</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>
+          <acceleration>4e-06 1.7e-05 -0 -0.000111 3.1e-05 -0</acceleration>
+          <wrench>7e-06 3.3e-05 -1e-06 0 -0 0</wrench>
         </link>
       </model>
-      <model name='control_console'>
-        <pose frame=''>0.148569 1.26008 0 0 -0 3.14159</pose>
+      <model name='cardboard_box_1'>
+        <pose frame=''>1.12673 -13.2085 0.149 0 -0 0.258705</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0.148569 1.26008 0 0 -0 3.14159</pose>
+          <pose frame=''>1.12673 -13.2085 0.149 0 -0 0.258705</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>
+          <acceleration>4e-06 -1.6e-05 0 0.00011 3.2e-05 0</acceleration>
+          <wrench>7e-06 -3.3e-05 1e-06 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cube_20k'>
-        <pose frame=''>11 -0.600029 -0 -0 -0 -9.8e-05</pose>
+      <model name='cinder_block'>
+        <pose frame=''>-0.136097 -12.424 -3e-05 -0.000137 3e-06 1e-06</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>11 -0.600029 0.5 -0 -0 -9.8e-05</pose>
+          <pose frame=''>-0.136097 -12.424 -3e-05 -0.000137 3e-06 1e-06</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.07556 -0.034168 0.19878 -3.07115 -0.991631 -3.13739</acceleration>
-          <wrench>-1.07556 -0.034168 0.19878 0 -0 0</wrench>
+          <acceleration>-0 0 0 0 -0 0</acceleration>
+          <wrench>-0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cube_20k_0'>
-        <pose frame=''>14 -0.600027 -0 -0 1e-06 -9e-05</pose>
+      <model name='cinder_block_0'>
+        <pose frame=''>0.530405 -11.904 -6e-06 -9e-06 2.3e-05 -0.133829</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>14 -0.600027 0.5 -0 1e-06 -9e-05</pose>
+          <pose frame=''>0.530405 -11.904 -6e-06 -9e-06 2.3e-05 -0.133829</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>1.07556 0.034176 -0.19878 3.07113 0.991632 3.13739</acceleration>
-          <wrench>1.07556 0.034176 -0.19878 0 -0 0</wrench>
+          <acceleration>0 -0 0 0 -0 0</acceleration>
+          <wrench>0 -0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cube_20k_1'>
-        <pose frame=''>11 -3.50002 -0 0 1e-06 -8.8e-05</pose>
+      <model name='cinder_block_2'>
+        <pose frame=''>-0.080865 -11.9407 -1.1e-05 0 -0 0.24297</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>11 -3.50002 0.5 0 1e-06 -8.8e-05</pose>
+          <pose frame=''>-0.080865 -11.9407 -1.1e-05 0 -0 0.24297</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>1.07556 0.034179 -0.19878 3.07113 0.991632 3.13739</acceleration>
-          <wrench>1.07556 0.034179 -0.19878 0 -0 0</wrench>
+          <acceleration>-0 -0 0 0 -0 0</acceleration>
+          <wrench>-0 -0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='cube_20k_2'>
-        <pose frame=''>14 -3.50002 -0 0 1e-06 -8e-05</pose>
+      <model name='cinder_block_2_0'>
+        <pose frame=''>0.287461 -12.2518 -0.000486 -0.000157 0.002623 -0.104437</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>14 -3.50002 0.5 0 1e-06 -8e-05</pose>
+          <pose frame=''>0.287461 -12.2518 -0.000486 -0.000157 0.002623 -0.104437</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>1.07556 0.034187 -0.19878 3.07111 0.991632 3.13739</acceleration>
-          <wrench>1.07556 0.034187 -0.19878 0 -0 0</wrench>
+          <acceleration>0 -0 0 0 -0 0</acceleration>
+          <wrench>0 -0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='drc_practice_organge_jersey_barrier'>
-        <pose frame=''>1.13411 -12.6826 0 0 -0 0.141416</pose>
+      <model name='cinder_block_2_1'>
+        <pose frame=''>-0.405067 -12.0539 -1e-05 0 -0 0.844086</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.13411 -12.6826 0 0 -0 0.141416</pose>
+          <pose frame=''>-0.405067 -12.0539 -1e-05 0 -0 0.844086</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>
+          <acceleration>0 -0 -0 0 -0 0</acceleration>
+          <wrench>0 -0 -0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='euro_pallet'>
-        <pose frame=''>1.45961 -11.3228 0.514693 2.24178 -1e-06 3.14158</pose>
+      <model name='cinder_block_wide'>
+        <pose frame=''>0.213048 -12.745 -1e-05 0 -0 0.17741</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>1.45961 -11.3228 0.514693 2.24178 -1e-06 3.14158</pose>
+          <pose frame=''>0.213048 -12.745 -1e-05 0 -0 0.17741</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0.215184 0.235488 -0.145897 1.89421 -0.544491 -3.08885</acceleration>
-          <wrench>4.30368 4.70975 -2.91793 0 -0 0</wrench>
+          <acceleration>-0 0 -0 -0 -0 -0</acceleration>
+          <wrench>-0 0 -0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='fire_hydrant'>
-        <pose frame=''>4.73925 -10.4166 0 0 -0 0</pose>
+      <model name='drc_practice_organge_jersey_barrier'>
+        <pose frame=''>-0.288893 -10.6607 0 0 -0 0.118797</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>4.73925 -10.4166 0 0 -0 0</pose>
+          <pose frame=''>-0.288893 -10.6607 0 0 -0 0.118797</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='first_2015_trash_can'>
-        <pose frame=''>6.92647 1.28007 2e-06 2.4e-05 -1.5e-05 0.829055</pose>
+      <model name='euro_pallet'>
+        <pose frame=''>9.94544 -8.60359 0.071997 -0 -1e-05 -0.013015</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>6.92647 1.28007 2e-06 2.4e-05 -1.5e-05 0.829055</pose>
+          <pose frame=''>9.94544 -8.60359 0.071997 -0 -1e-05 -0.013015</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0.457831 0.286507 -8.21998 1.11969 1.35958 -2.55572</acceleration>
-          <wrench>2.21167 1.38405 -39.7088 0 -0 0</wrench>
+          <acceleration>-0.09842 0.001255 -9.52338 -0.027151 -1.36742 -1.8e-05</acceleration>
+          <wrench>-1.96839 0.0251 -190.468 0 -0 0</wrench>
         </link>
       </model>
-      <model name='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+      <model name='fire_hydrant'>
+        <pose frame=''>4.7239 -8.17835 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
+          <pose frame=''>4.7239 -8.17835 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='hatchback_blue'>
-        <pose frame=''>5.56395 -12.3272 0 0 -0 0</pose>
+      <model name='ground_plane'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>5.56395 -12.3272 0 0 -0 0</pose>
+          <pose frame=''>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='jersey_barrier'>
-        <pose frame=''>-0.056715 -11.6477 0 0 -0 1.41015</pose>
+      <model name='hatchback_blue'>
+        <pose frame=''>5.03346 -9.9151 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>-0.056715 -11.6477 0 0 -0 1.41015</pose>
+          <pose frame=''>5.03346 -9.9151 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='ladder_70deg_0rails'>
-        <pose frame=''>0.712754 -8.55987 0 0 -0 1.57</pose>
+      <model name='ladder_60deg_2rails'>
+        <pose frame=''>9.74731 -9.67253 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='landing'>
-          <pose frame=''>-0.460775 -8.55893 2.4 0 -0 1.57</pose>
+          <pose frame=''>9.74731 -7.98689 2.4 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>
-        <link name='left_side_wall'>
-          <pose frame=''>0.275632 -9.00952 1.2 1.22173 0 1.57</pose>
+        <link name='left_railing_landing_top'>
+          <pose frame=''>9.29731 -7.98689 3.61244 1.5708 -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>
-        <link name='right_side_wall'>
-          <pose frame=''>0.276349 -8.10952 1.2 1.22173 0 1.57</pose>
+        <link name='left_railing_landing_upright_0'>
+          <pose frame=''>9.29731 -8.28689 3.00622 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>
-        <link name='step0'>
-          <pose frame=''>0.615695 -8.55979 0.266667 0 -0 1.57</pose>
+        <link name='left_railing_landing_upright_1'>
+          <pose frame=''>9.29731 -7.68689 3.00622 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>
-        <link name='step1'>
-          <pose frame=''>0.518637 -8.55971 0.533333 0 -0 1.57</pose>
+        <link name='left_railing_long'>
+          <pose frame=''>9.29731 -9.32971 1.80622 -0.523599 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>
-        <link name='step2'>
-          <pose frame=''>0.421578 -8.55963 0.8 0 -0 1.57</pose>
+        <link name='left_railing_upright0'>
+          <pose frame=''>9.29731 -9.9475 0.15875 1.0472 -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>
-        <link name='step3'>
-          <pose frame=''>0.324519 -8.55956 1.06667 0 -0 1.57</pose>
+        <link name='left_railing_upright1'>
+          <pose frame=''>9.29731 -9.48562 0.95875 1.0472 -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>
-        <link name='step4'>
-          <pose frame=''>0.22746 -8.55948 1.33333 0 -0 1.57</pose>
+        <link name='left_railing_upright2'>
+          <pose frame=''>9.29731 -9.02374 1.75875 1.0472 -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>
-        <link name='step5'>
-          <pose frame=''>0.130402 -8.5594 1.6 0 -0 1.57</pose>
+        <link name='left_railing_upright3'>
+          <pose frame=''>9.29731 -8.56185 2.55875 1.0472 -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>
-        <link name='step6'>
-          <pose frame=''>0.033343 -8.55932 1.86667 0 -0 1.57</pose>
+        <link name='left_side_wall'>
+          <pose frame=''>9.29731 -8.97971 1.2 1.0472 -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>
-        <link name='step7'>
-          <pose frame=''>-0.063716 -8.55925 2.13333 0 -0 1.57</pose>
+        <link name='right_railing_landing_top'>
+          <pose frame=''>10.1973 -7.98689 3.61244 1.5708 -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='me5413_hope_ending_2'>
-        <pose frame=''>8.58971 -6.00914 0 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='Stairs_0'>
-          <pose frame=''>8.58971 -6.00914 0 0 -0 0</pose>
+        <link name='right_railing_landing_upright_0'>
+          <pose frame=''>10.1973 -8.28689 3.00622 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>
-        <link name='Wall_100'>
-          <pose frame=''>-0.835295 -12.1841 0 0 0 -1.5708</pose>
+        <link name='right_railing_landing_upright_1'>
+          <pose frame=''>10.1973 -7.68689 3.00622 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>
-        <link name='Wall_105'>
-          <pose frame=''>11.2647 1.69086 0 0 -0 0</pose>
+        <link name='right_railing_long'>
+          <pose frame=''>10.1973 -9.32971 1.80622 -0.523599 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>
-        <link name='Wall_107'>
-          <pose frame=''>6.46471 -3.10914 0 0 0 -1.5708</pose>
+        <link name='right_railing_upright0'>
+          <pose frame=''>10.1973 -9.9475 0.15875 1.0472 -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>
-        <link name='Wall_114'>
-          <pose frame=''>4.8647 -2.23414 0 0 0 -1.5708</pose>
+        <link name='right_railing_upright1'>
+          <pose frame=''>10.1973 -9.48562 0.95875 1.0472 -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>
-        <link name='Wall_117'>
-          <pose frame=''>4.8647 1.26586 0 0 0 -1.5708</pose>
+        <link name='right_railing_upright2'>
+          <pose frame=''>10.1973 -9.02374 1.75875 1.0472 -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>
-        <link name='Wall_118'>
-          <pose frame=''>3.81471 0.840864 0 0 -0 3.14159</pose>
+        <link name='right_railing_upright3'>
+          <pose frame=''>10.1973 -8.56185 2.55875 1.0472 -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>
-        <link name='Wall_120'>
-          <pose frame=''>0.239705 0.840864 0 0 -0 3.14159</pose>
+        <link name='right_side_wall'>
+          <pose frame=''>10.1973 -8.97971 1.2 1.0472 -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>
-        <link name='Wall_125'>
-          <pose frame=''>10.8397 -8.8011 0 0 -0 0</pose>
+        <link name='step0'>
+          <pose frame=''>9.74731 -9.51857 0.266667 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>
-        <link name='Wall_54'>
-          <pose frame=''>16.1647 -8.00689 0 0 -0 0</pose>
+        <link name='step1'>
+          <pose frame=''>9.74731 -9.36461 0.533333 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>
-        <link name='Wall_60'>
-          <pose frame=''>9.9147 -9.3511 0 0 0 -1.5708</pose>
+        <link name='step2'>
+          <pose frame=''>9.74731 -9.21065 0.8 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>
-        <link name='Wall_61'>
-          <pose frame=''>7.18769 -9.9011 0 0 -0 3.14159</pose>
+        <link name='step3'>
+          <pose frame=''>9.74731 -9.05669 1.06667 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>
-        <link name='Wall_92'>
-          <pose frame=''>-0.835295 -1.83414 0 0 -0 1.5708</pose>
+        <link name='step4'>
+          <pose frame=''>9.74731 -8.90273 1.33333 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>
-        <link name='Wall_93'>
-          <pose frame=''>8.5897 4.34086 0 0 -0 0</pose>
+        <link name='step5'>
+          <pose frame=''>9.74731 -8.74877 1.6 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>
-        <link name='Wall_94'>
-          <pose frame=''>18.0147 -5.95914 0 0 0 -1.5708</pose>
+        <link name='step6'>
+          <pose frame=''>9.74731 -8.59481 1.86667 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>
-        <link name='Wall_98'>
-          <pose frame=''>3.62217 -8.00914 0 0 -0 3.14159</pose>
+        <link name='step7'>
+          <pose frame=''>9.74731 -8.44085 2.13333 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='person_standing'>
-        <pose frame=''>9.08807 -9.31431 -1e-06 -1e-06 1e-06 -3.1345</pose>
+      <model name='ladder_70deg_0rails'>
+        <pose frame=''>0.417198 -8.16364 -0 0 -0 1.5708</pose>
         <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>9.08807 -9.31431 -1e-06 -1e-06 1e-06 -3.1345</pose>
+        <link name='landing'>
+          <pose frame=''>-0.756332 -8.16364 2.4 0 -0 1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.6517 -1.18093 -1.31396 -1.92638 -1.45759 3.08392</acceleration>
-          <wrench>-132.136 -94.4743 -105.117 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
-      </model>
-      <model name='person_standing_0'>
-        <pose frame=''>11.0242 0.330247 -0 1e-06 -1e-06 -0.000625</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>11.0242 0.330247 -0 1e-06 -1e-06 -0.000625</pose>
+        <link name='left_side_wall'>
+          <pose frame=''>-0.019566 -8.61364 1.2 1.22173 0 1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.68867 -1.18405 -1.16446 -1.90352 -1.41412 3.11294</acceleration>
-          <wrench>-135.093 -94.7243 -93.157 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
-      </model>
-      <model name='person_standing_1'>
-        <pose frame=''>0.138539 2.34575 -0 -1e-06 1e-06 0.001955</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>0.138539 2.34575 -0 -1e-06 1e-06 0.001955</pose>
+        <link name='right_side_wall'>
+          <pose frame=''>-0.019566 -7.71364 1.2 1.22173 0 1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>1.60362 1.13275 -1.53381 1.93765 1.46194 3.09693</acceleration>
-          <wrench>128.29 90.6204 -122.705 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
-      </model>
-      <model name='person_standing_2'>
-        <pose frame=''>10.9516 -2.60772 -0 0 -1e-06 0.001151</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>10.9516 -2.60772 -0 0 -1e-06 0.001151</pose>
+        <link name='step0'>
+          <pose frame=''>0.320139 -8.16364 0.266667 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='step1'>
+          <pose frame=''>0.223081 -8.16364 0.533333 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='step2'>
+          <pose frame=''>0.126022 -8.16364 0.8 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='step3'>
+          <pose frame=''>0.028963 -8.16364 1.06667 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='step4'>
+          <pose frame=''>-0.068096 -8.16364 1.33333 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='step5'>
+          <pose frame=''>-0.165154 -8.16364 1.6 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='step6'>
+          <pose frame=''>-0.262213 -8.16364 1.86667 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='step7'>
+          <pose frame=''>-0.359272 -8.16364 2.13333 0 -0 1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.61743 -1.14056 -1.46746 -1.92935 -1.44749 3.09652</acceleration>
-          <wrench>-129.394 -91.245 -117.396 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='person_standing_3'>
-        <pose frame=''>14.0716 0.297525 -0 0 -1e-06 0.001608</pose>
+      <model name='pickup'>
+        <pose frame=''>15.5399 -11.6972 0 0 0 -1.5708</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>14.0716 0.297525 -0 0 -1e-06 0.001608</pose>
+          <pose frame=''>15.5399 -11.6972 0 0 0 -1.5708</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>-1.71898 1.20376 -0.992607 1.87395 -1.36522 -3.1046</acceleration>
-          <wrench>-137.519 96.3008 -79.4086 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='person_standing_4'>
-        <pose frame=''>14.0381 -2.61924 -0 1e-06 1e-06 0.000777</pose>
+      <model name='pine_tree'>
+        <pose frame=''>16.576 -5.96157 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>14.0381 -2.61924 -0 1e-06 1e-06 0.000777</pose>
+          <pose frame=''>16.576 -5.96157 0 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>1.59353 -1.11924 -1.60352 -1.95337 1.47384 -3.09632</acceleration>
-          <wrench>127.482 -89.5393 -128.281 0 -0 0</wrench>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
-      <model name='pickup'>
-        <pose frame=''>6.99193 -15.3445 0 0 -0 0</pose>
+      <model name='postbox'>
+        <pose frame=''>-0.417373 -9.25699 -0.020586 0 -0 1.5708</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>6.99193 -15.3445 0 0 -0 0</pose>
+          <pose frame=''>-0.417373 -9.25699 -0.020586 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>
       </model>
-      <model name='pickup_0'>
-        <pose frame=''>15.7836 -13.2077 0 0 0 -1.56857</pose>
+      <model name='suv'>
+        <pose frame=''>5.82342 -13.2274 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>15.7836 -13.2077 0 0 0 -1.56857</pose>
+          <pose frame=''>5.82342 -13.2274 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='pine_tree'>
-        <pose frame=''>11.4345 -10.3207 0 0 -0 0</pose>
+      <model name='window'>
+        <pose frame=''>15.6538 -7.62027 0 0 -0 0</pose>
         <scale>1 1 1</scale>
-        <link name='link'>
-          <pose frame=''>11.4345 -10.3207 0 0 -0 0</pose>
+        <link name='Wall_0'>
+          <pose frame=''>15.6538 -7.62027 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>
@@ -5241,263 +4876,14 @@
         <pose frame=''>0 0 10 0 -0 0</pose>
       </light>
     </state>
-    <model name='hatchback_blue'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <pose frame=''>0 0 0 0 -0 1.5708</pose>
-          <geometry>
-            <mesh>
-              <scale>0.0254 0.0254 0.0254</scale>
-              <uri>model://hatchback_blue/meshes/hatchback.obj</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 0 0 -0 1.5708</pose>
-          <geometry>
-            <mesh>
-              <scale>0.0254 0.0254 0.0254</scale>
-              <uri>model://hatchback_blue/meshes/hatchback.obj</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>5.56395 -12.3272 0 0 -0 0</pose>
-    </model>
-    <model name='person_standing'>
-      <link name='link'>
-        <inertial>
-          <pose frame=''>0 -0.1 0.95 0 -0 0</pose>
-          <mass>80</mass>
-          <inertia>
-            <ixx>24.88</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>25.73</iyy>
-            <iyz>0</iyz>
-            <izz>2.48</izz>
-          </inertia>
-        </inertial>
-        <collision name='bottom'>
-          <pose frame=''>0 -0.1 0.01 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.5 0.35 0.02</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <collision name='person'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <pose frame=''>0 0 0.02 0.04 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://person_standing/meshes/standing.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>9.08679 -9.1346 0 0 -0 0</pose>
-    </model>
-    <model name='pine_tree'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='branch'>
-          <geometry>
-            <mesh>
-              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
-              <submesh>
-                <name>Branch</name>
-              </submesh>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://pine_tree/materials/scripts/</uri>
-              <uri>model://pine_tree/materials/textures/</uri>
-              <name>PineTree/Branch</name>
-            </script>
-          </material>
-        </visual>
-        <visual name='bark'>
-          <geometry>
-            <mesh>
-              <uri>model://pine_tree/meshes/pine_tree.dae</uri>
-              <submesh>
-                <name>Bark</name>
-              </submesh>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://pine_tree/materials/scripts/</uri>
-              <uri>model://pine_tree/materials/textures/</uri>
-              <name>PineTree/Bark</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>11.4345 -10.3207 0 0 -0 0</pose>
-    </model>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>2.54187 -9.50879 16.8247 -0 1.2258 1.60777</pose>
+        <pose frame=''>8.75121 -5.1215 32.0729 -1e-06 1.5698 1.5761</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
     </gui>
-    <model name='assembly_line'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <scale>0.001 0.001 0.001</scale>
-              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <scale>0.001 0.001 0.001</scale>
-              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>1.56005 -2.74905 0 0 -0 0</pose>
-    </model>
-    <model name='assembly_line_clone'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
-              <scale>0.001 0.001 0.001</scale>
-              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
-            </mesh>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <mesh>
-              <scale>0.001 0.001 0.001</scale>
-              <uri>model://assembly_line/meshes/assembly_line.STL</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <pose frame=''>-0.759737 -4.1022 -0 1.5708 -0 1.5708</pose>
-    </model>
-
+    
     <plugin name="object_spawner_gz_plugin" filename="libobject_spawner_gz_plugin.so"/>
   </world>
 </sdf>