<?xml version="1.0" ?>
<!--
  Demo of models being downloaded from http://app.ignitionrobotics.org/
-->
<sdf version="1.6">
  <world name="shapes">
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <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="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>
          </material>
        </visual>
      </link>
    </model>

    <!-- Included model without meshes -->
    <include>
      <pose>-3 0 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
    </include>

    <!-- Included model with meshes -->
    <include>
      <pose>3 -1 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack</uri>
    </include>

    <!-- Included model with meshes using relative paths -->
    <include>
      <pose>2 5 0 0 0 0</pose>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
    </include>

    <!-- Included actor with meshes using relative paths -->
    <include>
      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths</uri>
    </include>

    <!-- Model with meshes -->
    <model name="Radio">
      <pose>3 -1.5 0 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <mesh>
              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
            </mesh>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <mesh>
              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>
