<?xml version='1.0'?>
<!--
  Log video recorder.

  This world is to be used with the log playback and log video recorder system.
  Change the log playback path to the directory containing state.tlog before
  launching the world. Videos will be created in the directory where ign gazebo
  is run. A string message will be published to /log_video_recorder/status when
  recording is finished.
-->
<sdf version='1.6'>
  <world name='default'>
    <plugin filename='ignition-gazebo-scene-broadcaster-system'
            name='ignition::gazebo::systems::SceneBroadcaster'>
    </plugin>
    <plugin
      filename='ignition-gazebo-log-system'
      name='ignition::gazebo::systems::LogPlayback'>
      <path>tmp_record</path>
    </plugin>
    <plugin filename='ignition-gazebo-log-video-recorder-system'
            name='ignition::gazebo::systems::LogVideoRecorder'>
      <region>
        <min>-5 -5 0.001</min>
        <max>5 5 1</max>
      </region>
      <start_time>5.0</start_time>
      <exit_on_finish>true</exit_on_finish>
    </plugin>

    <physics name="1ms" type="dart">
      <max_step_size>0.004</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>

    <gui fullscreen='0'>
      <plugin filename='GzScene3D' name='3D View'>
        <ignition-gui>
          <title>3D View</title>
          <property type='bool' key='showTitleBar'>false</property>
          <property type='string' key='state'>docked</property>
        </ignition-gui>
        <engine>ogre2</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>-6 0 6 0 0.5 0</camera_pose>
        <camera_follow>
          <p_gain>0.01</p_gain>
          <world_frame>true</world_frame>
          <offset>-1.0 0 2.5</offset>
        </camera_follow>
      </plugin>
      <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>
          <property type='string' key='state'>floating</property>
          <anchors target='3D View'>
            <line own='left' target='left'/>
            <line own='bottom' target='bottom'/>
          </anchors>
        </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>
      <plugin filename='WorldStats' name='World stats'>
        <ignition-gui>
          <title>World stats</title>
          <property type='bool' key='showTitleBar'>false</property>
          <property type='bool' key='resizable'>false</property>
          <property type='double' key='height'>110</property>
          <property type='double' key='width'>290</property>
          <property type='double' key='z'>1</property>
          <property type='string' key='state'>floating</property>
          <anchors target='3D View'>
            <line own='right' target='right'/>
            <line own='bottom' target='bottom'/>
          </anchors>
        </ignition-gui>
        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
        <topic>/world/default/stats</topic>
      </plugin>
    </gui>
  </world>
</sdf>

