samll_house/small_house.world

<?xml version="1.0" encoding="utf-8"?>

<sdf version='1.6'>
  <world name='default'>
    <!-- override the default position of the camera !-->
    <gui>
      <camera name='gzclient_camera'>
      <!--
        <pose>5 -4 2 0 0.2756 2.3561</pose>
        -->
        <pose>-4.4965503 -0.4874 1.508684 0 -0 0</pose>
      </camera>
    </gui>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>

    <model name='AirconditionerA_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_AirconditionerA_01</uri>
        </include>
        <pose frame=''>-9.199410 2.411230 2.084544 0 -0 0</pose>
	</model>
	
	<model name='AirconditionerB_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_AirconditionerB_01</uri>
        </include>
        <pose frame=''>-2.004656 -5.226610 0.003485 0 -0 0</pose>
	</model>
	<model name='Ball_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Ball_01</uri>
        </include>
        <pose frame=''>3.295503 4.225674 0.318684 0 -0 0</pose>
	</model>
    
    <!-- quick test ball for turtlebot3 -->
    <!-- 
	<model name='Ball_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_Ball_01</uri>
        </include>
        <pose frame=''>-3.665503 -0.4874 0.318684 0 -0 0</pose>
	</model>
    -->

    <!-- bedroom ball -->
    <model name='Ball_01_003'>
        <include>
            <uri>model://aws_robomaker_residential_Ball_01</uri>
        </include>
        <pose frame=''>-6.945503 -4.22174 0.318684 0 -0 0</pose>
	</model>
	<model name='Bed_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Bed_01</uri>
        </include>
        <pose frame=''>-6.165067 2.030560 -0.000010 0 -0 0</pose>
	</model>
	<model name='NightStand_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_NightStand_01</uri>
        </include>
        <pose frame=''>-7.725510 2.860420 0.005258 -0.000002 0 0</pose>
	</model>
	<model name='NightStand_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_NightStand_01</uri>
        </include>
        <pose frame=''>-4.407341 2.860420 0.005256 0 0.000002 0</pose>
	</model>
	<model name='Board_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Board_01</uri>
        </include>
        <pose frame=''>2.779073 -5.392703 1.538173 0 -0 0</pose>
	</model>
	
    <!-- Remove ceiling for easier view
	<model name='RoomCeiling_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_RoomCeiling_01</uri>
        </include>
        <pose frame=''>0 0 2.5 0 -0 0</pose>
	</model>
    -->
	
	<model name='ChairA_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_ChairA_01</uri>
        </include>
        <pose frame=''>7.11516 0.209028 0.024685 1e-06 -0 -1.55607</pose>
	</model>
	<model name='ChairA_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_ChairA_01</uri>
        </include>
        <pose frame=''>6.25506 0.219468 0.011308 0 0 -1.50414</pose>
	</model>
	<model name='ChairA_01_003'>
        <include>
            <uri>model://aws_robomaker_residential_ChairA_01</uri>
        </include>
        <pose frame=''>6.06678 1.68075 0.01 0 -0 1.56986</pose>
	</model>
	<model name='ChairA_01_004'>
        <include>
            <uri>model://aws_robomaker_residential_ChairA_01</uri>
        </include>
        <pose frame=''>7.00277 1.67074 0 0 -0 1.52363</pose>
	</model>
	<model name='ChairA_01_005'>
        <include>
            <uri>model://aws_robomaker_residential_ChairA_01</uri>
        </include>
        <pose frame=''>-8.270940 1.916650 0.036650 0 -0 0</pose>
	</model>
	<model name='ChairD_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_ChairD_01</uri>
        </include>
        <pose frame=''>-1.380775 4.104456 0 0 -0 0</pose>
	</model>
	<model name='ChairD_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_ChairD_01</uri>
        </include>
        <pose frame=''>0.325214 4.104456 0 0 -0 -3.138741</pose>
	</model>
    <model name='ChairD_01_003'>
        <include>
            <uri>model://aws_robomaker_residential_ChairD_01</uri>
        </include>
        <pose frame=''>-8.270775 -4.504456 0 0 -0 0.869673</pose>
	</model>
	<model name='Chandelier_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Chandelier_01</uri>
        </include>
        <pose frame=''>1.221061 4.155740 1.295000 0 -0 0</pose>
	</model>
       	<model name='Chandelier_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_Chandelier_01</uri>
        </include>
        <pose frame=''>-6.451061 -0.692040 1.810000 0 -0 0</pose>
	</model>
	<model name='Chandelier_01_003'>
        <include>
            <uri>model://aws_robomaker_residential_Chandelier_01</uri>
        </include>
        <pose frame=''>7.824061 -1.59 1.7510000 0 -0 0</pose>
	</model>
    <model name='Chandelier_01_004'>
        <include>
            <uri>model://aws_robomaker_residential_Chandelier_01</uri>
        </include>
        <pose frame=''>1.221061 -1.592040 1.7873000 0 -0 0</pose>
	</model>
	<model name='Carpet_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Carpet_01</uri>
        </include>
        <pose frame=''>0.785050 -1.106647 0.001106 0 -0 0</pose>
	</model>
    <model name='Carpet_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_Carpet_01</uri>
        </include>
        <pose frame=''>2.854050 3.45 0.000585 0 -0 0</pose>
	</model>
	<model name='SecurityCamera_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_SecurityCamera_01</uri>
        </include>
        <pose frame=''>0.842134 -4.996294 0.495067 0 -0 -2.841039</pose>
	</model>
	<model name='CoffeeTable_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_CoffeeTable_01</uri>
        </include>
        <pose frame=''>1.512301 -1.733438 0.041983 0.000000 0.000000 0.01000</pose>
	</model>
	<model name='CookingBench_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_CookingBench_01</uri>
        </include>
        <pose frame=''>9.038383 -3.351140 0.903610 0 -0 3.137133</pose>
        <static> true </static>
	</model>

	<model name='Curtain_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Curtain_01</uri>
        </include>
        <pose frame=''>-9.172642 0.203760 0 0 -0 0</pose>
	</model>
    
	<model name='KitchenTable_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_KitchenTable_01</uri>
        </include>
        <pose frame=''>6.55269 0.951173 -0.000006 0 -0 -1.564130</pose>
	</model>
	<model name='ReadingDesk_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_ReadingDesk_01</uri>
        </include>
        <pose frame=''>-8.987262 2.057058 0 0 -0 -0.004638</pose>
	</model>
	<model name='BalconyTable_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_BalconyTable_01</uri>
        </include>
        <pose frame=''>-0.556240 4.111241 0 0 -0 0</pose>
	</model>

	<model name='Door_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Door_01</uri>
        </include>
        <pose frame=''>6.001449 -5.549002 0 0 -0 0</pose>
	</model>
	
	<model name='Dumbbell_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Dumbbell_01</uri>
        </include>
        <pose frame=''>2.512849 2.717787 0.002183 0 -0 0</pose>
	</model>
	<model name='Tablet_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Tablet_01</uri>
        </include>
        <pose frame=''>1.572830 -1.775857 0.401790 -0.020625 -0.000080 -0.006317</pose>
	</model>
	<model name='FitnessEquipment_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_FitnessEquipment_01</uri>
        </include>
        <pose frame=''>3.484720 3.169104 0.003168 0 -0 0</pose>
	</model>
	<model name='FoldingDoor_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_FoldingDoor_01</uri>
        </include>
        <pose frame=''>-2.461096 1.844219 0.041881 0 -0 0</pose>
	</model>
	<model name='FoldingDoor_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_FoldingDoor_01</uri>
        </include>
        <pose frame=''>-2.461096 -4.053320 0.041881 0 -0 0</pose>
	</model>
	<model name='Handle_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Handle_01</uri>
        </include>
        <pose frame=''>5.724 -5.523 0.9938 0 -0 -3.1415</pose>
	</model>
	
    <model name='HouseWallB_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_HouseWallB_01</uri>
        </include>
        <pose frame=''>0 0 0 0 -0 0</pose>
	</model>
    
    <model name='FloorB_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_FloorB_01</uri>
        </include>
        <pose frame=''>0 0 0 0 -0 0</pose>
	</model>


    <model name='FoldingDoor_02_001'>
        <include>
            <uri>model://aws_robomaker_residential_FoldingDoor_02</uri>
        </include>
        <pose frame=''>4.674231 2.46451 0 0 -0 3.14159</pose>
	</model>

    <model name='FoldingDoor_02_002'>
        <include>
            <uri>model://aws_robomaker_residential_FoldingDoor_02</uri>
        </include>
        <pose frame=''>4.8912 -4.84968 0 0 -0 0</pose>
	</model>

	<model name='KitchenCabinet_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_KitchenCabinet_01</uri>
        </include>
        <pose frame=''>8.002009 -3.836509 0.012068 0 -0 -3.140001</pose>
	</model>
	<model name='KitchenUtensils_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_KitchenUtensils_01</uri>
        </include>
        <pose frame=''>9.285478 -5.021261 1.141805 0 -0 0</pose>
	</model>
	
	<model name='LightC_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_LightC_01</uri>
        </include>
        <pose frame=''>1.769567 -5.4443710 2.000000 0 -0 0</pose>
	</model>
	<model name='LightC_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_LightC_01</uri>
        </include>
        <pose frame=''>-0.138245 -5.4443710 2.000000 0 -0 0</pose>
	</model>
	
    <!-- 
    Wall & Desk Portraits: 

    They're copies rather than instances, however, they still use
    the same collada files. This way, we can individually change each
    portrait image by replacing the texture files. Remember that the 
    texture file name needs to be the same.
    -->
     <!-- WALL -->
	<model name='PortraitA_01'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitA_01</uri>
        </include>
        <pose frame=''>-2.712360 -4.817539 1.00000 0 -0 1.566796</pose>
	</model>
	
	<model name='PortraitB_01'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitB_01</uri>
        </include>
        <pose frame=''>-1.279683 -5.429630 0.0 -0.076901 0 -3.116718</pose>
	</model>

	<model name='PortraitB_02'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitB_02</uri>
        </include>
        <pose frame=''>5.737017 3.080310 0.300000 0 -0 0</pose>
	</model>

	<model name='PortraitB_03'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitB_03</uri>
        </include>
        <pose frame=''>3.071380 -5.349366 0.005494 -0.168428 0.0 3.104232</pose>
	</model>

	<model name='PortraitA_02'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitA_02</uri>
        </include>
        <pose frame=''>7.937017 3.080310 0.300000 0 -0 3.14</pose>
	</model>

	<model name='PortraitC_01'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitC_01</uri>
        </include>
        <pose frame=''>-9.294904 -4.526084 1.000000 0 -0 1.554734</pose>
	</model>
	
	<model name='PortraitD_01'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitD_01</uri>
        </include>
        <pose frame=''>0.789763 -5.478725 1.800000 0 -0 3.138531</pose>
	</model>
	<model name='PortraitD_02'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitD_02</uri>
        </include>
        <pose frame=''>6.870181 3.080310 1.488439 0 -0 0</pose>
	</model>
	
	<model name='PortraitE_01'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitE_01</uri>
        </include>
        <pose frame=''>-5.773094 -5.492466 1.000000 0 -0 3.132627</pose>
	</model>
	<model name='PortraitE_02'>
        <include>
            <uri>model://aws_robomaker_residential_PortraitE_02</uri>
        </include>
        <pose frame=''>-6.193025 -1.590208 0.3 0 -0 0.004290</pose>
	</model>

    <!-- DESK -->
	<model name='DeskPortraitA_01'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitA_01</uri>
        </include>
        <pose frame=''>-0.036864 -5.110156 0.498660 0 -0 2.927784</pose>
	</model>
    <model name='DeskPortraitA_02'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitA_02</uri>
        </include>
        
        <pose frame=''>2.046082 -1.892926 0.0703880 -0.018328 -0.000441 1.576216</pose>
	</model>
	<model name='DeskPortraitC_01'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitC_01</uri>
        </include>
        <pose frame=''>-7.746377 2.731075 0.694620 0.000488 -0.000359 -0.055499</pose>
	</model>
        <model name='DeskPortraitC_02'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitC_02</uri>
        </include>
        <pose frame=''>0.964613 -1.586951 0.127676 0.001614 -0.000545 -1.578699</pose>
	</model>
	<model name='DeskPortraitD_01'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitD_01</uri>
        </include>
        <pose frame=''>2.645560 -5.376225 1.573738 0 -0 -3.112826</pose>
	</model>
        <model name='DeskPortraitD_02'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitD_02</uri>
        </include>
        <pose frame=''>-0.589211 -5.109890 0.192145 -0.000015 -0.000174 -3.112544</pose>
	</model>
        <model name='DeskPortraitD_03'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitD_03</uri>
        </include>
        <pose frame=''>1.826729 -1.464881 0.126208 0.000010 0.000006 -3.114380</pose>
	</model>
    <model name='DeskPortraitD_04'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitD_04</uri>
        </include>
        <pose frame=''>4.302132 -5.176568 0.202496 0.007118 -0.000001 3.046683</pose>
	</model>
       <model name='DeskPortraitB_01'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitB_01</uri>
        </include>
        <pose frame=''>3.547 -5.087950 0.202496 0.007118 -0.000001 3.046683</pose>
	</model>
    <model name='DeskPortraitB_02'>
        <include>
            <uri>model://aws_robomaker_residential_DeskPortraitB_02</uri>
        </include>
        <pose frame=''>2.486082 -5.104568 0.202496 0.007118 -0.000001 3.046683</pose>
	</model>
    <!-- Wall & Desk Portraits END -->

	<model name='Rangehood_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Rangehood_01</uri>
        </include>
        <pose frame=''>9.019794 -3.369940 1.507605 0 -0 0</pose>
	</model>
	
	<model name='Refrigerator_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Refrigerator_01</uri>
        </include>
        <pose frame=''>8.702731 -1.032031 0 0 -0 -1.563499</pose>
	</model>
	<model name='SeasoningBox_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_SeasoningBox_01</uri>
        </include>
        <pose frame=''>9.107968 -2.651726 0.902458 -0.000006 0.000034 0.001290</pose>
	</model>
	<model name='ShoeRack_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_ShoeRack_01</uri>
        </include>
        <pose frame=''>4.297978 -5.173566 0 0 -0 0</pose>
	</model>
	<model name='SofaC_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_SofaC_01</uri>
        </include>
        <pose frame=''>0.775898 -0.411153 0.065992 -0.000464 -0.000071 0.005614</pose>
	</model>
	<model name='Tableware_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Tableware_01</uri>
        </include>
        <pose frame=''>7.15317 0.982767 0.817812 -0.001238 -0.000976 1.02476</pose>
	</model>
	<model name='Trash_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Trash_01</uri>
        </include>
        <pose frame=''>2.360151 -0.796238 0.011 0 -0 0</pose>
	</model>
    <model name='Trash_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_Trash_01</uri>
        </include>
        <pose frame=''>-8.704151 1.00058 0.011 0 -0 0</pose>
	</model>
	<model name='TV_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_TV_01</uri>
        </include>
        <pose frame=''>0.824259 -5.382968 0.676282 0 -0 -1.561744</pose>
	</model>
	<model name='TV_02_001'>
        <include>
            <uri>model://aws_robomaker_residential_TV_02</uri>
        </include>
        <pose frame=''>-6.197322 -1.388739 0.676282 0 -0 -1.561744</pose>
	</model>	
	<model name='TVCabinet_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_TVCabinet_01</uri>
        </include>
        <!-- 
        <pose frame=''>0.615509 -5.105954 -0.011049 0 -0 1.5700</pose>
        -->
        <pose frame=''>0.629509 -5.183576 -0.017049 0 -0 1.5792</pose>
	</model>
	<model name='Vase_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Vase_01</uri>
        </include>
        <pose frame=''>3.055663 -5.413080 1.574958 0.000003 0.001700 0.000840</pose>
	</model>`
	<model name='RoomWall_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWall_01</uri>
        </include>
        <pose frame=''>-6.097550 -1.496180 0.028124 0 -0 0</pose>
	</model>
	

	
	<model name='Wardrobe_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_Wardrobe_01</uri>
        </include>
        <pose frame=''>-3.146710 2.476204 0.000704 0 -0 -1.569673</pose>
	</model>
        <model name='RoomWindow_01_001'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>-9.418600 -0.026285 0.502739 0 -0 0</pose>
	</model>
	<model name='RoomWindow_01_002'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>-9.418600 -2.374090 0.502739 0 -0 0</pose>
	</model>
	<model name='RoomWindow_01_003'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>9.422616 -3.373981 0.502739 0 -0 -3.136099</pose>
	</model>
	<model name='RoomWindow_01_004'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>9.422558 0.968520 0.496581 0 -0 -3.136099</pose>
	</model>
	<model name='RoomWindow_01_005'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>4.722317 4.470281 0.502739 0 -0 -3.136099</pose>
	</model>
	<model name='RoomWindow_01_006'>
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	</model>
	<model name='RoomWindow_01_007'>
        <include>
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        <pose frame=''>1.140949 5.600688 0.502739 0 -0 -1.566274</pose>
	</model>
	<model name='RoomWindow_01_008'>
        <include>
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	</model>
	<model name='RoomWindow_01_009'>
        <include>
            <uri>model://aws_robomaker_residential_RoomWindow_01</uri>
        </include>
        <pose frame=''>-2.396624 4.387607 0.502739 0 -0 0</pose>
	</model>

    <!-- Lights !-->
    <!--
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>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>
    !-->
    <light name='LivingRoom_CeilingLight_0' type='point'>
      <pose frame=''>1.194296 4.155759 2.2 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.32</constant>
        <linear>0.01</linear>
        <quadratic>0.03</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='LivingRoom_CeilingLight_1' type='point'>
      <pose frame=''>1.194296 -1.589959 2.2 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.05</constant>
        <linear>0.01</linear>
        <quadratic>0.09</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='LivingRoom_WallLight_0' type='point'>
      <pose frame=''>1.76956 -5.444370 2.2 0 -0 0</pose>
      <diffuse>0.24 0.24 0.24 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.12</constant>
        <linear>0.00</linear>
        <quadratic>0.03</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='LivingRoom_WallLight_1' type='point'>
      <pose frame=''>-0.13826 -5.444370 2.2 0 -0 0</pose>
      <diffuse>0.24 0.24 0.24 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.12</constant>
        <linear>0.00</linear>
        <quadratic>0.03</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='TV_Light_0' type='point'>
      <pose frame=''>0.8269 -4.939577 1.1 0 -0 0</pose>
      <diffuse>0.31372 0.31372 0.34901 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>3</range>
        <constant>0.10</constant>
        <linear>0.04</linear>
        <quadratic>0.50</quadratic>
      </attenuation>
      <cast_shadows>1</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='BedRoom_Portrait_Light_0' type='spot'>
      <pose frame=''>-6.190379 -1.829697 1.5587 0.3 -0 0.0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.50</constant>
        <linear>0.01</linear>
        <quadratic>0.00</quadratic>
      </attenuation>
      <spot> 
        <inner_angle>0.6</inner_angle>  
        <outer_angle>1.0</outer_angle>  
        <falloff>1.0</falloff> 
      </spot> 
      <cast_shadows>1</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='BedRoom_CeilingLight_0' type='point'>
      <pose frame=''>-6.451061 -0.692040 2.000000 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.32</constant>
        <linear>0.01</linear>
        <quadratic>0.03</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <light name='Kitchen_CeilingLight_0' type='point'>
      <pose frame=''>7.8582 -1.5905 2.280000 0 -0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <attenuation>
        <range>20</range>
        <constant>0.3</constant>
        <linear>0.01</linear>
        <quadratic>0.01</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <direction>0 0 -1</direction>
    </light>
    <include>
      <pose>-3.5 -4.5 0.0 0.0 0.0 1.58</pose>
      <uri>model://turtlebot3_waffle_pi</uri>
    </include>
  </world>
</sdf>