<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <physics name="fast" type="ignored">
      <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="box">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="box_link">
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="box_collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="box_visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
            <specular>1 0 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="sphere">
      <pose>0 1.5 0.5 0 0 0</pose>
      <link name="sphere_link">
        <inertial>
          <inertia>
            <ixx>3</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>3</iyy>
            <iyz>0</iyz>
            <izz>3</izz>
          </inertia>
          <mass>3.0</mass>
        </inertial>
        <collision name="sphere_collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>

        <visual name="sphere_visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <ambient>0 0 1 1</ambient>
            <diffuse>0 0 1 1</diffuse>
            <specular>0 0 1 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <plugin name="ignition::gazebo" filename="dummy">

      <performer name="perf_sphere">
        <ref>sphere</ref>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </performer>

      <performer name="perf_box">
        <ref>box</ref>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </performer>

    </plugin>

  </world>
</sdf>
