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Re-worked building map, added mutex to handle entries and exits
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Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
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@aaronchongth
aaronchongth committed Feb 20, 2025
1 parent 001156c commit ac76a1d
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Showing 4 changed files with 89 additions and 52 deletions.
119 changes: 75 additions & 44 deletions nexus_demos/config/rmf/maps/depot/depot.building.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,29 +20,49 @@ levels:
filename: depot_scan.png
elevation: 0
lanes:
- [14, 28, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [28, 15, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [30, 16, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [31, 17, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [32, 19, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [28, 34, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [34, 33, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [34, 29, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [29, 30, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [30, 31, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [31, 32, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [32, 35, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [35, 20, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [35, 36, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [36, 21, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [36, 37, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [37, 18, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [37, 38, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [38, 22, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [38, 29, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [27, 32, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [14, 21, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [21, 15, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [22, 16, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_1], orientation: [1, ""], speed_limit: [3, 0]}]
- [23, 17, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_2], orientation: [1, ""], speed_limit: [3, 0]}]
- [24, 18, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_3], orientation: [1, ""], speed_limit: [3, 0]}]
- [25, 19, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_6], orientation: [1, ""], speed_limit: [3, 0]}]
- [26, 20, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_5], orientation: [1, ""], speed_limit: [3, 0]}]
- [30, 24, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_3], orientation: [1, ""], speed_limit: [3, 0]}]
- [29, 23, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_2], orientation: [1, ""], speed_limit: [3, 0]}]
- [28, 22, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_1], orientation: [1, ""], speed_limit: [3, 0]}]
- [28, 32, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [32, 29, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [29, 33, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [33, 30, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [24, 34, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [34, 23, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [23, 35, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [35, 22, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [22, 36, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [25, 37, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [37, 26, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [26, 38, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [38, 27, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [21, 36, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [27, 39, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [27, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_4], orientation: [1, ""], speed_limit: [3, 0]}]
- [25, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_6], orientation: [1, ""], speed_limit: [3, 0]}]
- [41, 30, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [39, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [27, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_4], orientation: [1, ""], speed_limit: [3, 0]}]
- [45, 28, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [29, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [46, 31, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [31, 36, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [30, 37, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [43, 26, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, workcell_5], orientation: [1, ""], speed_limit: [3, 0]}]
- [45, 44, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [44, 43, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [43, 42, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [42, 41, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [31, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [47, 28, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [46, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
- [48, 45, {bidirectional: [4, false], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
layers:
{}
measurements:
Expand All @@ -64,28 +84,39 @@ levels:
- [147.02600000000001, 233.02699999999999, 0, ""]
- [211.29400000000001, 284.73700000000002, 0, deliveryRobotCharger1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot1], spawn_robot_type: [1, DeliveryRobot]}]
- [240.38200000000001, 284.73700000000002, 0, deliveryRobotCharger2, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot2], spawn_robot_type: [1, DeliveryRobot]}]
- [160.90700000000001, 179.114, 0, workcell_1, {dropoff_ingestor: [1, workcell_1], is_holding_point: [4, false], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_1]}]
- [100.842, 179.41800000000001, 0, workcell_2, {dropoff_ingestor: [1, workcell_2], is_holding_point: [4, false], is_parking_spot: [4, false], pickup_dispenser: [1, workcell_2]}]
- [160.91300000000001, 128.69999999999999, 0, workcell_4, {dropoff_ingestor: [1, workcell_4], pickup_dispenser: [1, workcell_4]}]
- [40.776000000000003, 180.02600000000001, 0, workcell_3, {dropoff_ingestor: [1, workcell_3], pickup_dispenser: [1, workcell_3]}]
- [41.079999999999998, 128.93199999999999, 0, workcell_6, {dropoff_ingestor: [1, workcell_6], pickup_dispenser: [1, workcell_6]}]
- [101.754, 128.93199999999999, 0, workcell_5, {dropoff_ingestor: [1, workcell_5], pickup_dispenser: [1, workcell_5]}]
- [228.02099999999999, 128.25200000000001, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [28.983000000000001, 108.464, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [25.177, 123.68899999999999, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [20.492000000000001, 81.236000000000004, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [43.536999999999999, 88.259, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [18.771999999999998, 164.773, 0, "", {is_holding_point: [4, true], is_parking_spot: [4, true]}]
- [180.55500000000001, 208.523, 0, workcell_1, {dropoff_ingestor: [1, workcell_1], is_holding_point: [4, false], is_parking_spot: [4, false], mutex: [1, workcell_1], pickup_dispenser: [1, workcell_1]}]
- [120.56100000000001, 208.73599999999999, 0, workcell_2, {dropoff_ingestor: [1, workcell_2], is_holding_point: [4, false], is_parking_spot: [4, false], mutex: [1, workcell_2], pickup_dispenser: [1, workcell_2]}]
- [60.567999999999998, 208.94900000000001, 0, workcell_3, {dropoff_ingestor: [1, workcell_3], mutex: [1, workcell_3], pickup_dispenser: [1, workcell_3]}]
- [60.780999999999999, 98.109999999999999, 0, workcell_6, {dropoff_ingestor: [1, workcell_6], mutex: [1, workcell_6], pickup_dispenser: [1, workcell_6]}]
- [120.56100000000001, 98.748000000000005, 0, workcell_5, {dropoff_ingestor: [1, workcell_5], mutex: [1, workcell_5], pickup_dispenser: [1, workcell_5]}]
- [225.733, 250.20699999999999, 0, ""]
- [227.39699999999999, 165.74100000000001, 0, ""]
- [161.04400000000001, 165.33600000000001, 0, ""]
- [101.2, 165.006, 0, ""]
- [40.965000000000003, 164.52699999999999, 0, ""]
- [191.227, 206.31100000000001, 0, ""]
- [226.608, 206.29900000000001, 0, ""]
- [41.436, 144.524, 0, ""]
- [101.277, 144.983, 0, ""]
- [160.523, 145.184, 0, ""]
- [227.73699999999999, 145.48099999999999, 0, ""]
- [180.648, 186.25800000000001, 0, "", {is_holding_point: [4, false], is_passthrough_point: [4, true], mutex: [1, workcell_1]}]
- [120.726, 186.25800000000001, 0, "", {is_holding_point: [4, false], is_passthrough_point: [4, true], mutex: [1, workcell_2]}]
- [60.628999999999998, 186.28, 0, "", {mutex: [1, workcell_3]}]
- [60.664999999999999, 120.01300000000001, 0, "", {mutex: [1, workcell_6]}]
- [120.592, 119.938, 0, "", {mutex: [1, workcell_5]}]
- [180.934, 120.089, 0, "", {mutex: [1, workcell_4]}]
- [180.947, 163.43799999999999, 0, "", {is_holding_point: [4, false], is_passthrough_point: [4, true], mutex: [1, workcell_1]}]
- [120.61199999999999, 163.166, 0, "", {is_holding_point: [4, false], is_passthrough_point: [4, true], mutex: [1, workcell_2]}]
- [60.664999999999999, 163.49299999999999, 0, "", {mutex: [1, workcell_3]}]
- [225.01599999999999, 163.529, 0, "", {is_holding_point: [4, false]}]
- [152.36799999999999, 163.49799999999999, 0, "", {is_holding_point: [4, true]}]
- [90.802999999999997, 163.255, 0, "", {is_holding_point: [4, true]}]
- [89.682000000000002, 186.25800000000001, 0, "", {is_holding_point: [4, true]}]
- [149.965, 186.25800000000001, 0, "", {is_holding_point: [4, true]}]
- [225.21000000000001, 186.501, 0, "", {is_holding_point: [4, false]}]
- [91.251999999999995, 119.938, 0, "", {is_holding_point: [4, true]}]
- [151.595, 119.938, 0, "", {is_holding_point: [4, true]}]
- [225.13399999999999, 120.002, 0, ""]
- [181.011, 98.334999999999994, 0, workcell_4, {dropoff_ingestor: [1, workcell_4], mutex: [1, workcell_4], pickup_dispenser: [1, workcell_4]}]
- [60.694000000000003, 141.631, 0, "", {mutex: [1, workcell_6]}]
- [90.257999999999996, 141.459, 0, "", {is_holding_point: [4, true]}]
- [120.61199999999999, 141.37299999999999, 0, "", {mutex: [1, workcell_5]}]
- [152.38900000000001, 141.631, 0, "", {is_holding_point: [4, true]}]
- [180.947, 141.72300000000001, 0, "", {mutex: [1, workcell_4]}]
- [225.19800000000001, 141.53999999999999, 0, ""]
- [203.21899999999999, 163.42599999999999, 0, "", {is_holding_point: [4, true]}]
- [202.70699999999999, 141.602, 0, "", {is_holding_point: [4, true]}]
- [160.13200000000001, 179.37799999999999, 0, ""]
lifts: {}
name: depot
12 changes: 6 additions & 6 deletions nexus_demos/config/rmf/maps/depot/depot_template.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -292,7 +292,7 @@
</include>

<model name="enclosure_1">
<pose>8 -10.3 0 0 0 3.14159</pose>
<pose>9 -11.8 0 0 0 3.14159</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
Expand Down Expand Up @@ -320,7 +320,7 @@
</model>

<model name="enclosure_2">
<pose>5 -10.3 0 0 0 3.14159</pose>
<pose>6 -11.8 0 0 0 3.14159</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
Expand Down Expand Up @@ -348,7 +348,7 @@
</model>

<model name="enclosure_3">
<pose>2 -10.3 0 0 0 3.14159</pose>
<pose>3 -11.8 0 0 0 3.14159</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
Expand Down Expand Up @@ -376,7 +376,7 @@
</model>

<model name="enclosure_4">
<pose>8 -5 0 0 0 0</pose>
<pose>9 -3.5 0 0 0 0</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
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</model>

<model name="enclosure_5">
<pose>5 -5 0 0 0 0</pose>
<pose>6 -3.5 0 0 0 0</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
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</model>

<model name="enclosure_6">
<pose>2 -5 0 0 0 0</pose>
<pose>3 -3.5 0 0 0 0</pose>
<static>true</static>
<include>
<uri>https://fuel.gazebosim.org/1.0/Open-RMF/models/enclosure</uri>
Expand Down
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