<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /local/dev_hpp/src/iai_maps/build-rel/room/maze.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="maze" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Little helper macro to define the inertia matrix needed for links. -->
  <!-- Length is along the y-axis. -->
  <!--<macro name="handle" params="name position link clearance">
    <handle name="${name}" clearance="${clearance}">
      <position>${position}</position>
      <link name="${link}" />
    </handle>
  </macro>-->
  <!--  <glasses name="glasses2" parent="room" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>-->
  <link name="maze_link">
    <!--<sphere_inertia radius="0.001" mass="1"/>-->
  </link>
  <joint name="wallEast_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 0 0.5"/>
    <parent link="maze_link"/>
    <child link="wallEast_link"/>
  </joint>
  <link name="wallEast_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="9 0.1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="9 0.1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallEast_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="wallWest_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 12 0.5"/>
    <parent link="maze_link"/>
    <child link="wallWest_link"/>
  </joint>
  <link name="wallWest_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="9 0.1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="9 0.1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallWest_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="wallNorth1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="9 3.5 0.5"/>
    <parent link="maze_link"/>
    <child link="wallNorth1_link"/>
  </joint>
  <link name="wallNorth1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 7 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 7 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallNorth1_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="wallNorth2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="9 10 0.5"/>
    <parent link="maze_link"/>
    <child link="wallNorth2_link"/>
  </joint>
  <link name="wallNorth2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 4 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 4 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallNorth2_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="wallSouth1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.5 0.5"/>
    <parent link="maze_link"/>
    <child link="wallSouth1_link"/>
  </joint>
  <link name="wallSouth1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallSouth1_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="wallSouth2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 7 0.5"/>
    <parent link="maze_link"/>
    <child link="wallSouth2_link"/>
  </joint>
  <link name="wallSouth2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 10 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.1 10 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wallSouth2_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <!-- inside horizontal (south to north, east to west) -->
  <joint name="w3_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1 1.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w3_link"/>
  </joint>
  <link name="w3_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w3_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w4_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1 6.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w4_link"/>
  </joint>
  <link name="w4_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 3 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 3 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w4_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w5_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1 10 0.5"/>
    <parent link="maze_link"/>
    <child link="w5_link"/>
  </joint>
  <link name="w5_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w5_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w6_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2 1.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w6_link"/>
  </joint>
  <link name="w6_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w6_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w7_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2 3.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w7_link"/>
  </joint>
  <link name="w7_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w7_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w8_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2 7 0.5"/>
    <parent link="maze_link"/>
    <child link="w8_link"/>
  </joint>
  <link name="w8_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w8_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w9_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w9_link"/>
  </joint>
  <link name="w9_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w9_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w10_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3 1.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w10_link"/>
  </joint>
  <link name="w10_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w10_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w11_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3 5 0.5"/>
    <parent link="maze_link"/>
    <child link="w11_link"/>
  </joint>
  <link name="w11_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w11_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w12_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3 7.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w12_link"/>
  </joint>
  <link name="w12_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w12_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w13_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3 9.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w13_link"/>
  </joint>
  <link name="w13_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w13_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w14_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4 1.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w14_link"/>
  </joint>
  <link name="w14_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w14_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w15_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4 4.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w15_link"/>
  </joint>
  <link name="w15_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w15_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w16_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4 6.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w16_link"/>
  </joint>
  <link name="w16_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w16_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w17_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w17_link"/>
  </joint>
  <link name="w17_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w17_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w18_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5 2.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w18_link"/>
  </joint>
  <link name="w18_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w18_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w19_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5 4.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w19_link"/>
  </joint>
  <link name="w19_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w19_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w20_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5 6.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w20_link"/>
  </joint>
  <link name="w20_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w20_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w21_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5 10.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w21_link"/>
  </joint>
  <link name="w21_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w21_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w22_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6 3.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w22_link"/>
  </joint>
  <link name="w22_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w22_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w23_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6 5.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w23_link"/>
  </joint>
  <link name="w23_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w23_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w24_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6 7.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w24_link"/>
  </joint>
  <link name="w24_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w24_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w25_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6 10.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w25_link"/>
  </joint>
  <link name="w25_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w25_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w26_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 2.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w26_link"/>
  </joint>
  <link name="w26_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w26_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w27_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 4.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w27_link"/>
  </joint>
  <link name="w27_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w27_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w28_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 6.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w28_link"/>
  </joint>
  <link name="w28_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w28_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w29_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 9 0.5"/>
    <parent link="maze_link"/>
    <child link="w29_link"/>
  </joint>
  <link name="w29_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 2 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w29_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w30_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 11.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w30_link"/>
  </joint>
  <link name="w30_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w30_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w31_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8 0.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w31_link"/>
  </joint>
  <link name="w31_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w31_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w32_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8 4 0.5"/>
    <parent link="maze_link"/>
    <child link="w32_link"/>
  </joint>
  <link name="w32_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 4 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 4 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w32_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w33_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8 8.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w33_link"/>
  </joint>
  <link name="w33_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w33_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w34_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8 10.5 0.5"/>
    <parent link="maze_link"/>
    <child link="w34_link"/>
  </joint>
  <link name="w34_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 1 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w34_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w35_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2.5 1 0.5"/>
    <parent link="maze_link"/>
    <child link="w35_link"/>
  </joint>
  <link name="w35_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w35_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w36_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5.5 1 0.5"/>
    <parent link="maze_link"/>
    <child link="w36_link"/>
  </joint>
  <link name="w36_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="3 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="3 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w36_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w37_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1 2 0.5"/>
    <parent link="maze_link"/>
    <child link="w37_link"/>
  </joint>
  <link name="w37_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w37_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w38_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3.5 2 0.5"/>
    <parent link="maze_link"/>
    <child link="w38_link"/>
  </joint>
  <link name="w38_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w38_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w39_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6 2 0.5"/>
    <parent link="maze_link"/>
    <child link="w39_link"/>
  </joint>
  <link name="w39_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w39_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w40_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2.5 3 0.5"/>
    <parent link="maze_link"/>
    <child link="w40_link"/>
  </joint>
  <link name="w40_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="5 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="5 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w40_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w41_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6.5 3 0.5"/>
    <parent link="maze_link"/>
    <child link="w41_link"/>
  </joint>
  <link name="w41_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w41_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w42_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.5 4 0.5"/>
    <parent link="maze_link"/>
    <child link="w42_link"/>
  </joint>
  <link name="w42_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w42_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w43_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3.5 4 0.5"/>
    <parent link="maze_link"/>
    <child link="w43_link"/>
  </joint>
  <link name="w43_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w43_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w44_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5.5 4 0.5"/>
    <parent link="maze_link"/>
    <child link="w44_link"/>
  </joint>
  <link name="w44_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w44_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w45_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7.5 4 0.5"/>
    <parent link="maze_link"/>
    <child link="w45_link"/>
  </joint>
  <link name="w45_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w45_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w46_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1.5 5 0.5"/>
    <parent link="maze_link"/>
    <child link="w46_link"/>
  </joint>
  <link name="w46_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w46_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w47_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 5 0.5"/>
    <parent link="maze_link"/>
    <child link="w47_link"/>
  </joint>
  <link name="w47_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w47_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w48_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6.5 5 0.5"/>
    <parent link="maze_link"/>
    <child link="w48_link"/>
  </joint>
  <link name="w48_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w48_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w49_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2.5 6 0.5"/>
    <parent link="maze_link"/>
    <child link="w49_link"/>
  </joint>
  <link name="w49_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w49_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w50_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 6 0.5"/>
    <parent link="maze_link"/>
    <child link="w50_link"/>
  </joint>
  <link name="w50_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w50_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w51_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6.5 6 0.5"/>
    <parent link="maze_link"/>
    <child link="w51_link"/>
  </joint>
  <link name="w51_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w51_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w52_joint" type="fixed">
    <origin rpy="0 0 0" xyz="3.5 7 0.5"/>
    <parent link="maze_link"/>
    <child link="w52_link"/>
  </joint>
  <link name="w52_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w52_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w53_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5.5 7 0.5"/>
    <parent link="maze_link"/>
    <child link="w53_link"/>
  </joint>
  <link name="w53_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w53_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w54_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8 7 0.5"/>
    <parent link="maze_link"/>
    <child link="w54_link"/>
  </joint>
  <link name="w54_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w54_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w55_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1.5 8 0.5"/>
    <parent link="maze_link"/>
    <child link="w55_link"/>
  </joint>
  <link name="w55_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w55_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w56_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4 8 0.5"/>
    <parent link="maze_link"/>
    <child link="w56_link"/>
  </joint>
  <link name="w56_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w56_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w57_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7 8 0.5"/>
    <parent link="maze_link"/>
    <child link="w57_link"/>
  </joint>
  <link name="w57_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="2 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w57_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w58_joint" type="fixed">
    <origin rpy="0 0 0" xyz="1.5 9 0.5"/>
    <parent link="maze_link"/>
    <child link="w58_link"/>
  </joint>
  <link name="w58_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w58_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w59_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 9 0.5"/>
    <parent link="maze_link"/>
    <child link="w59_link"/>
  </joint>
  <link name="w59_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="3 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="3 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w59_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w60_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2.5 10 0.5"/>
    <parent link="maze_link"/>
    <child link="w60_link"/>
  </joint>
  <link name="w60_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w60_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w61_joint" type="fixed">
    <origin rpy="0 0 0" xyz="4.5 10 0.5"/>
    <parent link="maze_link"/>
    <child link="w61_link"/>
  </joint>
  <link name="w61_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w61_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w62_joint" type="fixed">
    <origin rpy="0 0 0" xyz="6.5 10 0.5"/>
    <parent link="maze_link"/>
    <child link="w62_link"/>
  </joint>
  <link name="w62_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w62_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w63_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.5 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w63_link"/>
  </joint>
  <link name="w63_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w63_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w64_joint" type="fixed">
    <origin rpy="0 0 0" xyz="2.5 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w64_link"/>
  </joint>
  <link name="w64_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w64_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w65_joint" type="fixed">
    <origin rpy="0 0 0" xyz="5.5 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w65_link"/>
  </joint>
  <link name="w65_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w65_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="w66_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7.5 11 0.5"/>
    <parent link="maze_link"/>
    <child link="w66_link"/>
  </joint>
  <link name="w66_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="1 0.05 1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1000"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="w66_link">
    <static>true</static>
    <material>Gazebo/White</material>
  </gazebo>
</robot>
