<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>0</real_time_factor>
    </physics>

    <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="string" key="state">docked</property>
        </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>-6 0 6 0 0.5 0</camera_pose>
      </plugin>

    </gui>

    <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="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>
        <pose>0.1 0.1 0.1 0 0 0</pose>
        <collision name="box_collision">
          <pose>0.11 0.11 0.11 0 0 0</pose>
          <geometry>
            <box>
              <size>3 4 5</size>
            </box>
          </geometry>
        </collision>

        <visual name="box_visual">
          <laser_retro>1150</laser_retro>
          <pose>0.12 0.12 0.12 0 0 0</pose>
          <geometry>
            <box>
              <size>1 2 3</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="cylinder">
      <pose>-1 -2 -3 0 0 1</pose>
      <link name="cylinder_link">
        <pose>0.2 0.2 0.2 0 0 0</pose>
        <inertial>
          <inertia>
            <ixx>2</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2</iyy>
            <iyz>0</iyz>
            <izz>2</izz>
          </inertia>
          <mass>2.0</mass>
        </inertial>
        <collision name="cylinder_collision">
          <pose>0.21 0.21 0.21 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.1</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="cylinder_visual">
          <laser_retro>1654</laser_retro>
          <pose>0.22 0.22 0.22 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>2.1</radius>
              <length>10.2</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
            <specular>0 1 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="sphere">
      <pose>0 0 0 0 0 1</pose>
      <link name="sphere_link">
        <pose>0.3 0.3 0.3 0 0 0</pose>
        <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">
          <pose>0.31 0.31 0.31 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>23.4</radius>
            </sphere>
          </geometry>
        </collision>

        <visual name="sphere_visual">
          <laser_retro>50</laser_retro>
          <pose>0.32 0.32 0.32 0 0 0</pose>
          <transparency>0.5</transparency>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <sphere>
              <radius>1.2</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>
  </world>
</sdf>
