<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <physics name="fast" type="ignored">
      <real_time_factor>0</real_time_factor>
    </physics>

    <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>

    <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="bool" key="resizable">false</property>
          <property type="double" key="z">0</property>
          <anchor line="right" target="window" target_line="right"/>
          <anchor line="left" target="window" target_line="left"/>
          <anchor line="top" target="window" target_line="top"/>
          <anchor line="bottom" target="window" target_line="bottom"/>
        </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>-1 0 1 0 0.5 0</camera_pose>
      </plugin>

      <!-- World control -->
      <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>
          <anchor line="left" target="window" target_line="left"/>
          <anchor line="bottom" target="window" target_line="bottom"/>
        </ignition-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>

      </plugin>
    </gui>

    <gravity>0 0 0</gravity>

    <model name="canonical">
      <!-- random pose -->
      <pose>-2.15195357 -1.43940727 0.61459533  0.1970569  -0.73194673 0.09871452</pose>
      <link name="base_link">
        <!-- random pose -->
        <pose>0.71229333 -1.05448166 1.62442587  0.45922601  0.47291648  0.25646825</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <collision name="base_collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
      </link>
      <link name="link1">
        <pose>0.8880941  -0.1920708  0.81992352 -0.81596066  0.95599217 -0.42638954</pose>
        <visual name="visual">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <joint name="j0" type="fixed">
        <parent>base_link</parent>
        <child>link1</child>
      </joint>
      <link name="link2">
        <pose>1.2961371  -0.53306886  1.35475164 -0.69270376 -0.7006309  -1.06392685</pose>
        <visual name="visual">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <joint name="j1" type="fixed">
        <parent>link1</parent>
        <child>link2</child>
      </joint>
    </model>

    <model name="nondefault_canonical" canonical_link="link1">
      <!-- random pose -->
      <pose>-2.15195357 -1.43940727 0.61459533  0.1970569  -0.73194673 0.09871452</pose>
      <link name="base_link">
        <!-- random pose -->
        <pose>0.71229333 -1.05448166 1.62442587  0.45922601  0.47291648  0.25646825</pose>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <collision name="base_collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
      </link>
      <link name="link1">
        <pose>0.8880941  -0.1920708  0.81992352 -0.81596066  0.95599217 -0.42638954</pose>
        <visual name="visual">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <joint name="j0" type="fixed">
        <parent>base_link</parent>
        <child>link1</child>
      </joint>
      <link name="link2">
        <pose>1.2961371  -0.53306886  1.35475164 -0.69270376 -0.7006309  -1.06392685</pose>
        <visual name="visual">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <cylinder>
              <length>0.4</length>
              <radius>0.02</radius>
            </cylinder>
          </geometry>
        </collision>
      </link>
      <joint name="j1" type="fixed">
        <parent>link1</parent>
        <child>link2</child>
      </joint>
    </model>
  </world>
</sdf>
