<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="calibration_world">
    
    <scene>
      <ambient>0.6 0.6 0.6 1.0</ambient>
      <background>0.7 0.7 0.7 1.0</background>
      <shadows>true</shadows>
    </scene>

    <include><uri>model://ground_plane</uri></include>

    <model name="calibration_room_structure">
      <static>true</static>
      <pose>0 0 0 0 0 0</pose>
      <link name="wall_north"><pose>0 5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
      <link name="wall_south"><pose>0 -5 1.25 0 0 0</pose><collision name="c"><geometry><box><size>10.2 0.2 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>10.2 0.2 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
      <link name="wall_east"><pose>5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
      <link name="wall_west"><pose>-5 0 1.25 0 0 0</pose><collision name="c"><geometry><box><size>0.2 10.0 2.5</size></box></geometry></collision><visual name="v"><geometry><box><size>0.2 10.0 2.5</size></box></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Grey</name></script></material></visual></link>
    </model>

    <include><uri>model://checkerboard_plane</uri><name>board_n1</name><pose>-3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_n2</name><pose>-1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_n3</name><pose> 1.25 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_n4</name><pose> 3.75 4.89 1.25 1.57 0 0</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>board_s1</name><pose>-3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_s2</name><pose>-1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_s3</name><pose> 1.25 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_s4</name><pose> 3.75 -4.89 1.25 1.57 0 3.14159</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>board_e1</name><pose>4.89 -3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_e2</name><pose>4.89 -1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_e3</name><pose>4.89  1.25 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_e4</name><pose>4.89  3.75 1.25 1.57 0 -1.57</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>board_w1</name><pose>-4.89 -3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_w2</name><pose>-4.89 -1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_w3</name><pose>-4.89  1.25 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>board_w4</name><pose>-4.89  3.75 1.25 1.57 0 1.57</pose><scale>0.3125 0.3125 1</scale></include>


    <model name="ceiling_lights_4x4">
      <static>true</static>
      <pose>0 0 2.5 0 0 0</pose>
      <link name="link">
        <visual name="v1_1"><cast_shadows>0</cast_shadows><pose>-4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v1_2"><cast_shadows>0</cast_shadows><pose>-1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v1_3"><cast_shadows>0</cast_shadows><pose> 1.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v1_4"><cast_shadows>0</cast_shadows><pose> 4.5 -4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v2_1"><cast_shadows>0</cast_shadows><pose>-4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v2_2"><cast_shadows>0</cast_shadows><pose>-1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v2_3"><cast_shadows>0</cast_shadows><pose> 1.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v2_4"><cast_shadows>0</cast_shadows><pose> 4.5 -1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v3_1"><cast_shadows>0</cast_shadows><pose>-4.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v3_2"><cast_shadows>0</cast_shadows><pose>-1.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v3_3"><cast_shadows>0</cast_shadows><pose> 1.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v3_4"><cast_shadows>0</cast_shadows><pose> 4.5  1.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v4_1"><cast_shadows>0</cast_shadows><pose>-4.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v4_2"><cast_shadows>0</cast_shadows><pose>-1.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v4_3"><cast_shadows>0</cast_shadows><pose> 1.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
        <visual name="v4_4"><cast_shadows>0</cast_shadows><pose> 4.5  4.5 0 0 0 0</pose><geometry><cylinder><radius>0.1</radius><length>0.05</length></cylinder></geometry><material><script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/WhiteGlow</name></script><emissive>0.5 0.5 0.5 1</emissive></material></visual>
      </link>
    </model>

    <light name='l1_1' type='point'><pose>-4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l1_2' type='point'><pose>-1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l1_3' type='point'><pose> 1.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l1_4' type='point'><pose> 4.5 -4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l2_1' type='point'><pose>-4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l2_2' type='point'><pose>-1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l2_3' type='point'><pose> 1.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l2_4' type='point'><pose> 4.5 -1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l3_1' type='point'><pose>-4.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l3_2' type='point'><pose>-1.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l3_3' type='point'><pose> 1.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l3_4' type='point'><pose> 4.5  1.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l4_1' type='point'><pose>-4.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l4_2' type='point'><pose>-1.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l4_3' type='point'><pose> 1.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>
    <light name='l4_4' type='point'><pose> 4.5  4.5 2.45 0 0 0</pose><diffuse>0.3 0.3 0.3 1</diffuse><specular>0.1 0.1 0.1 1</specular><attenuation><range>6</range><constant>0.2</constant><linear>0.05</linear><quadratic>0.1</quadratic></attenuation><cast_shadows>0</cast_shadows></light>


    <include><uri>model://checkerboard_plane</uri><name>floor_n1</name><pose>-3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_n2</name><pose>-1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_n3</name><pose> 1.25 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_n4</name><pose> 3.75 3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>floor_s1</name><pose>-3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_s2</name><pose>-1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_s3</name><pose> 1.25 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_s4</name><pose> 3.75 -3.75 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>floor_e1</name><pose>3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_e2</name><pose>3.75  1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>

    <include><uri>model://checkerboard_plane</uri><name>floor_w1</name><pose>-3.75 -1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>
    <include><uri>model://checkerboard_plane</uri><name>floor_w2</name><pose>-3.75  1.25 0.01 0 0 0</pose><scale>0.3125 0.3125 1</scale></include>

  </world>
</sdf>
