<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="world_one">
    <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>

    <physics name="default" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>2.0</real_time_factor>
    </physics>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>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="box">
      <pose>1 2 3 0 0 1</pose>
      <link name="link">
        <collision name="col">
          <geometry>
            <box>
              <size>3 4 5</size>
            </box>
          </geometry>
        </collision>

        <visual name="vis">
          <geometry>
            <box>
              <size>1 2 3</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>
  </world>

  <world name="world_two">
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <!-- no SceneBroadcaster -->

    <physics name="default" type="ode">
      <max_step_size>0.005</max_step_size>
      <real_time_factor>0</real_time_factor>
    </physics>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>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="cylinder">
      <pose>-1 -2 -3 0 0 1</pose>
      <link name="link">
        <collision name="col">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.1</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="vis">
          <geometry>
            <cylinder>
              <radius>2.1</radius>
              <length>10.2</length>
            </cylinder>
          </geometry>
        </visual>
      </link>
    </model>
  </world>

  <world name="world_three">
    <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>

    <physics name="default" type="ode">
      <max_step_size>0.02</max_step_size>
      <real_time_factor>0.5</real_time_factor>
    </physics>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>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="sphere">
      <pose>0 0 0 0 0 1</pose>
      <link name="link">
        <collision name="col">
          <geometry>
            <sphere>
              <radius>23.4</radius>
            </sphere>
          </geometry>
        </collision>

        <visual name="vis">
          <geometry>
            <sphere>
              <radius>100.2</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>
