diff --git a/Simulations/WorldMaker/Main.java b/Simulations/WorldMaker/Main.java
deleted file mode 100644
index 43b6f2454517a80ce2e87c4e2e66f81563814e7e..0000000000000000000000000000000000000000
--- a/Simulations/WorldMaker/Main.java
+++ /dev/null
@@ -1,180 +0,0 @@
-import java.io.File;
-import java.io.FileWriter;
-import java.io.IOException;
-import java.util.ArrayList;
-
-public class Main {
-
- public static int id = 1;
-
- public static ArrayList<String> obj = new ArrayList<>();
-
- public static void boxSlec(String posx, String posy, String len, String wid, String high){
- String box = " <model name='unit_box_"+ id + "'>\n" +
- " <pose frame=''>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
- " <link name='link'>\n" +
- " <inertial>\n" +
- " <mass>1</mass>\n" +
- " <inertia>\n" +
- " <ixx>0.166667</ixx>\n" +
- " <ixy>0</ixy>\n" +
- " <ixz>0</ixz>\n" +
- " <iyy>0.166667</iyy>\n" +
- " <iyz>0</iyz>\n" +
- " <izz>0.166667</izz>\n" +
- " </inertia>\n" +
- " </inertial>\n" +
- " <collision name='collision'>\n" +
- " <geometry>\n" +
- " <box>\n" +
- " <size>" + len + " " + wid + " " + high + "</size>\n" +
- " </box>\n" +
- " </geometry>\n" +
- " <max_contacts>10</max_contacts>\n" +
- " <surface>\n" +
- " <contact>\n" +
- " <ode/>\n" +
- " </contact>\n" +
- " <bounce/>\n" +
- " <friction>\n" +
- " <torsional>\n" +
- " <ode/>\n" +
- " </torsional>\n" +
- " <ode/>\n" +
- " </friction>\n" +
- " </surface>\n" +
- " </collision>\n" +
- " <visual name='visual'>\n" +
- " <geometry>\n" +
- " <box>\n" +
- " <size>" + len + " " + wid + " " + high + "</size>\n" +
- " </box>\n" +
- " </geometry>\n" +
- " <material>\n" +
- " <script>\n" +
- " <name>Gazebo/Grey</name>\n" +
- " <uri>file://media/materials/scripts/gazebo.material</uri>\n" +
- " </script>\n" +
- " </material>\n" +
- " </visual>\n" +
- " <self_collide>0</self_collide>\n" +
- " <enable_wind>0</enable_wind>\n" +
- " <kinematic>0</kinematic>\n" +
- " </link>\n" +
- " </model>";
- obj.add(box);
- id = id +1;
- }
- public static void zylSelec(String posx, String posy, String rad, String len){
- String zyl = " <model name=\"obstacle_" + id + "\">\n" +
- " <pose>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
- " <link name=\"link\">\n" +
- " <collision name=\"collision\">\n" +
- " <geometry>\n" +
- " <cylinder>\n" +
- " <radius>"+ rad + "</radius>\n" +
- " <length>"+ len +"</length>\n" +
- " </cylinder>\n" +
- " </geometry>\n" +
- " </collision>\n" +
- "\n" +
- " <visual name=\"visual\">\n" +
- " <geometry>\n" +
- " <cylinder>\n" +
- " <radius>" + rad +"</radius>\n" +
- " <length>" + len + "</length>\n" +
- " </cylinder>\n" +
- " </geometry>\n" +
- " </visual>\n" +
- " </link>\n" +
- " </model>" + "\n";
- obj.add(zyl);
- id = id +1;
- }
- public static void main(String[] args) {
- obj.add("<sdf version='1.4'>\n" +
- " <world name='default'>\n" +
- " \n" +
- " <!-- A global light source -->\n" +
- " <include>\n" +
- " <uri>model://sun</uri>\n" +
- " </include>\n" +
- "\n" +
- " <!-- A ground plane -->\n" +
- " <include>\n" +
- " <uri>model://ground_plane</uri>\n" +
- " </include>\n" +
- "\n" +
- " <physics type=\"ode\">\n" +
- " <real_time_update_rate>1000.0</real_time_update_rate>\n" +
- " <max_step_size>0.001</max_step_size>\n" +
- " <real_time_factor>1</real_time_factor>\n" +
- " <ode>\n" +
- " <solver>\n" +
- " <type>quick</type>\n" +
- " <iters>150</iters>\n" +
- " <precon_iters>0</precon_iters>\n" +
- " <sor>1.400000</sor>\n" +
- " <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>\n" +
- " </solver>\n" +
- " <constraints>\n" +
- " <cfm>0.00001</cfm>\n" +
- " <erp>0.2</erp>\n" +
- " <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>\n" +
- " <contact_surface_layer>0.01000</contact_surface_layer>\n" +
- " </constraints>\n" +
- " </ode>\n" +
- " </physics>\n" +
- " \n" +
- " <scene>\n" +
- " <ambient>0.4 0.4 0.4 1</ambient>\n" +
- " <background>0.7 0.7 0.7 1</background>\n" +
- " <shadows>true</shadows>\n" +
- " </scene>\n" +
- "\n" +
- " <gui fullscreen='0'>\n" +
- " <camera name='user_camera'>\n" +
- " <pose>0.0 0.0 17.0 0 1.5708 0</pose>\n" +
- " <view_controller>orbit</view_controller>\n" +
- " </camera>\n" +
- " </gui>" + "\n");
-
- File file = new File(args[0]);
- try {
- if (file.createNewFile())
- {
- System.out.println("File is created!");
- } else {
- System.out.println("File overwrite!");
- }
- } catch (IOException e) {
- e.printStackTrace();
- }
- for(int i = 1; i < args.length-1; ) {
- if ((args[i].compareTo("zyl") == 0)) {
- zylSelec(args[i+1], args[i+2], args[i+3], args[i+4]);
- i=i+5;
- }
- if ((args[i].compareTo("box") == 0)) {
- boxSlec(args[i+1], args[i+2], args[i+3], args[i+4], args[i+5]);
- i =i+6;
- }
- }
- obj.add(" </world>\n" +
- "</sdf>");
- FileWriter writer = null;
- try {
- writer = new FileWriter(file);
-
- for (int i = 0;i<obj.size();i++){
- writer.write(obj.get(i));
- writer.write("\n");
- }
-
- writer.close();
- } catch (IOException e) {
- e.printStackTrace();
- }
- }
-
-}