<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="empty">
    <physics name="phys" type="ode">
      <max_step_size>0.005</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <island_threads>true</island_threads>
          <thread_position_correction>true</thread_position_correction>
          <friction_model>cone_model</friction_model>
        </solver>
      </ode>
      <dart>
        <collision_detector>
          bullet
        </collision_detector>
      </dart>
    </physics>
    <plugin
      filename="ignition-gazebo-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin
      filename="ignition-gazebo-contact-system"
      name="gz::sim::systems::Contact">
    </plugin>
    <plugin filename="libignition-gazebo-imu-system.so"
        name="ignition::gazebo::systems::Imu">
    </plugin> 
    <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
        <render_engine>ogre2</render_engine>
    </plugin>
    <scene>
      <shadows>false</shadows>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <light type="directional" name="sun">
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    
    <model name="blue_cone_0">
        <link name="link">
            <pose>-2.078125 2.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_1">
        <link name="link">
            <pose>-3.703125 5.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_2">
        <link name="link">
            <pose>-6.203125 7.09375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_3">
        <link name="link">
            <pose>-9.078125 7.65625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_4">
        <link name="link">
            <pose>-12.015625 7.09375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_5">
        <link name="link">
            <pose>-14.515625 5.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_6">
        <link name="link">
            <pose>-16.140625 2.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_7">
        <link name="link">
            <pose>-16.703125 0.09375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_8">
        <link name="link">
            <pose>-16.140625 -2.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_9">
        <link name="link">
            <pose>-14.515625 -5.34375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_10">
        <link name="link">
            <pose>-12.015625 -6.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_11">
        <link name="link">
            <pose>-9.140625 -7.53125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_12">
        <link name="link">
            <pose>-6.203125 -6.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_13">
        <link name="link">
            <pose>-3.703125 -5.34375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_14">
        <link name="link">
            <pose>-2.078125 -2.90625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_15">
        <link name="link">
            <pose>3.359375 -8.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_16">
        <link name="link">
            <pose>4.984375 -9.71875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_17">
        <link name="link">
            <pose>9.109375 -10.59375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_18">
        <link name="link">
            <pose>13.109375 -9.78125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_19">
        <link name="link">
            <pose>16.671875 -7.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_20">
        <link name="link">
            <pose>18.984375 -3.90625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_21">
        <link name="link">
            <pose>19.734375 0.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_22">
        <link name="link">
            <pose>18.984375 4.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_23">
        <link name="link">
            <pose>16.671875 7.59375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_24">
        <link name="link">
            <pose>13.109375 9.90625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_25">
        <link name="link">
            <pose>9.109375 10.65625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_26">
        <link name="link">
            <pose>4.984375 9.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_27">
        <link name="link">
            <pose>3.359375 8.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="blue_cone_28">
        <link name="link">
            <pose>-1.515625 -0.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/blue_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_0">
        <link name="link">
            <pose>-3.328125 -8.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_1">
        <link name="link">
            <pose>2.109375 -2.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_2">
        <link name="link">
            <pose>3.734375 -5.34375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_3">
        <link name="link">
            <pose>6.234375 -6.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_4">
        <link name="link">
            <pose>9.109375 -7.53125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_5">
        <link name="link">
            <pose>12.046875 -6.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_6">
        <link name="link">
            <pose>14.546875 -5.34375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_7">
        <link name="link">
            <pose>16.171875 -2.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_8">
        <link name="link">
            <pose>16.734375 0.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_9">
        <link name="link">
            <pose>16.171875 2.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_10">
        <link name="link">
            <pose>14.546875 5.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_11">
        <link name="link">
            <pose>12.046875 7.09375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_12">
        <link name="link">
            <pose>9.171875 7.65625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_13">
        <link name="link">
            <pose>6.234375 7.09375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_14">
        <link name="link">
            <pose>3.734375 5.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_15">
        <link name="link">
            <pose>2.109375 3.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_16">
        <link name="link">
            <pose>-3.328125 8.96875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_17">
        <link name="link">
            <pose>-4.953125 9.84375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_18">
        <link name="link">
            <pose>-9.140625 10.65625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_19">
        <link name="link">
            <pose>-13.078125 9.90625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_20">
        <link name="link">
            <pose>-16.640625 7.59375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_21">
        <link name="link">
            <pose>-18.953125 4.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_22">
        <link name="link">
            <pose>-19.765625 0.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_23">
        <link name="link">
            <pose>-18.953125 -3.90625 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_24">
        <link name="link">
            <pose>-16.640625 -7.46875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_25">
        <link name="link">
            <pose>-13.078125 -9.78125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_26">
        <link name="link">
            <pose>-9.140625 -10.59375 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_27">
        <link name="link">
            <pose>-4.953125 -9.71875 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

    <model name="yellow_cone_28">
        <link name="link">
            <pose>1.484375 -0.03125 1 0 0 0</pose>
            <collision name="collision">
                <geometry>
                    <box>
                        <size>0.112 0.112 0.3</size>
                    </box>
                </geometry>
            </collision>
            <visual name="visual">
                <geometry>
                    <mesh><uri>model://assets/yellow_cone.dae</uri></mesh>
                </geometry>
                <laser_retro>
                    255
                </laser_retro>
            </visual>
            <sensor name='sensor_contact' type='contact'>
                <contact>
                    <collision>collision</collision>
                </contact>
            </sensor>
        </link>
        <plugin filename="libignition-gazebo-touchplugin-system.so"
            name="ignition::gazebo::systems::TouchPlugin">
            <target>vehicle_blue</target>
            <namespace>wall</namespace>
            <time>0.001</time>
            <enabled>true</enabled>
        </plugin>
    </model>
                

  </world>
</sdf>