diff --git a/stretch_gazebo/worlds/random_objects.world b/stretch_gazebo/worlds/random_objects.world
new file mode 100644
index 0000000..931038f
--- /dev/null
+++ b/stretch_gazebo/worlds/random_objects.world
@@ -0,0 +1,1260 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <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>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <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>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <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='drc_practice_angled_barrier_45'>
+      <static>1</static>
+      <static>1</static>
+      <link name='one::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>0 0 0 0 0 -1.5707</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='two::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>1.7646 -0.008563 0 0 0 -1.5707</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='three::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>3.52922 -0.016171 0 0 0 -1.5707</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='four::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>5.2559 -0.59667 0 0 0 -2.3562</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='five::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>6.49818 -1.85004 0 0 0 -2.3562</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='six::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>7.74031 -3.10261 0 0 0 -2.3562</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='seven::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>8.98256 -4.3561 0 0 0 -2.3562</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='eight::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_white_jersey_barrier/meshes/jersey_barrier.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>10.2248 -5.60978 0 0 0 -2.3562</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='nine::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>11.0288 -6.44203 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <link name='ten::link'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://drc_practice_blue_cylinder/meshes/cylinder.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <pose frame=''>11.0288 -6.44203 0.866 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>-4.00262 3.53677 0 0 -0 0</pose>
+    </model>
+    <model name='Dumpster'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <scale>1.5 1.5 1.5</scale>
+              <uri>model://dumpster/meshes/dumpster.dae</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <scale>1.5 1.5 1.5</scale>
+              <uri>model://dumpster/meshes/dumpster.dae</uri>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://dumpster/materials/scripts</uri>
+              <uri>model://dumpster/materials/textures</uri>
+              <name>Dumpster/Diffuse</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1</mass>
+        </inertial>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>-4.50879 -4.28224 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose frame=''>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose frame=''>1.18875 -4.65304 0 0 -0 0</pose>
+    </model>
+    <model name='table_short'>
+      <link name='link'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
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+          <pose frame=''>0 0 0 0 -0 0</pose>
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+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual1'>
+          <pose frame=''>0 0 0.6 0 -0 0</pose>
+          <geometry>
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+            </box>
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+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
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+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
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+            <shader type='vertex'>
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+        <visual name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.3 0 -0 0</pose>
+          <geometry>
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+              <length>0.6</length>
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+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
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+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
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+          <transparency>0</transparency>
+        </visual>
+        <visual name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.3 0 -0 0</pose>
+          <geometry>
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+              <length>0.6</length>
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+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
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+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
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+            </shader>
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+          <transparency>0</transparency>
+        </visual>
+        <visual name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.3 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>0.6</length>
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+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
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+        <visual name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.3 0 -0 0</pose>
+          <geometry>
+            <cylinder>
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+              <length>0.6</length>
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+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
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+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='vertex'>
+              <normal_map>__default__</normal_map>
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+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='front_left_leg'>
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+          <max_contacts>10</max_contacts>
+          <pose frame=''>0.68 0.38 0.3 0 -0 0</pose>
+          <geometry>
+            <cylinder>
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+              <length>0.6</length>
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+                <mu2>1</mu2>
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+              <threshold>1e+06</threshold>
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+          <pose frame=''>0 0 0.6 0 -0 0</pose>
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+                <surface_radius>0</surface_radius>
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+                <ode>
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+              <threshold>1e+06</threshold>
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+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
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+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
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+                <kp>1e+13</kp>
+                <kd>1</kd>
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+          <max_contacts>10</max_contacts>
+          <pose frame=''>-0.68 -0.38 0.3 0 -0 0</pose>
+          <geometry>
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+              <length>0.6</length>
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+          </geometry>
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+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
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+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
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+              <threshold>1e+06</threshold>
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+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
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+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
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+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
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+          <max_contacts>10</max_contacts>
+          <pose frame=''>-0.68 0.38 0.3 0 -0 0</pose>
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+              <length>0.6</length>
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+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
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+                <surface_radius>0</surface_radius>
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+              <threshold>1e+06</threshold>
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+                <kp>1e+13</kp>
+                <kd>1</kd>
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+                <kp>1e+13</kp>
+                <kd>1</kd>
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+                <ode>
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+                <kp>1e+13</kp>
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+        <pose frame=''>0 0 10 0 -0 0</pose>
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+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
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