<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="default">
    <physics name="fast" type="ignored">
      <real_time_factor>0</real_time_factor>
    </physics>

    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <gui fullscreen="0">

      <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="z">0</property>
          <anchor line="right" target="window" target_line="right"/>
          <anchor line="left" target="window" target_line="left"/>
          <anchor line="top" target="window" target_line="top"/>
          <anchor line="bottom" target="window" target_line="bottom"/>
        </ignition-gui>

        <engine>ogre</engine>
        <scene>scene</scene>
        <ambient_light>0.4 0.4 0.4</ambient_light>
        <background_color>0.8 0.8 0.8</background_color>
        <camera_pose>-1 0 1 0 0.5 0</camera_pose>
      </plugin>

      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <ignition-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">72</property>
          <property type="double" key="width">121</property>
          <property type="double" key="z">1</property>
          <anchor line="left" target="window" target_line="left"/>
          <anchor line="bottom" target="window" target_line="bottom"/>
        </ignition-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <service>/world/default/control</service>
        <stats_topic>/world/default/stats</stats_topic>

      </plugin>
    </gui>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
            <emissive>0.8 0.8 0.8 1</emissive>
          </material>
        </visual>
      </link>
    </model>

    <model name="nondefault_canonical" canonical_link="link2">
      <pose>0 0 0 0 0 0</pose>
      <!-- This link will remain at rest -->
      <link name="link1">
        <pose>-1 0 0.05 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <collision name="base_collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
      </link>
      <!-- This link will fall and since the model frame is attached to this, the model's pose should change -->
      <link name="link2">
        <pose>5 0 2 0 0 0</pose>
        <visual name="visual">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.2</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.2</radius>
            </cylinder>
          </geometry>
        </collision>
      </link>
    </model>
  </world>
</sdf>
