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

    <light type="directional" name="sun1">
      <cast_shadows>true</cast_shadows>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <direction>0.5 0.5 -1</direction>
    </light>

    <light type="directional" name="sun2">
      <cast_shadows>true</cast_shadows>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <direction>-0.5 0.5 -1</direction>
    </light>

    <light type="directional" name="sun3">
      <cast_shadows>true</cast_shadows>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <direction>-0.5 -0.5 -1</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-->
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <!--plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane-->
            <box>
              <size>20 20 0.1</size>
            </box>
          </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>

    <model name="duck1">
      <pose>0 0 3 0.0 0.0</pose>
      <link name="link">
        <inertial>
          <inertia>
            <ixx>3.92</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>3.92</iyy>
            <iyz>0</iyz>
            <izz>3.92</izz>
          </inertia>
          <mass>39</mass>
        </inertial>
        <collision name="collision">
          <pose>0 0 -0.4 1.57 0.0 0.0</pose>
          <geometry>
            <mesh>
              <scale>0.5 0.5 0.5</scale>
              <uri>file://test/media/duck_collider.dae</uri>
            </mesh>
          </geometry>
        </collision>

        <visual name="visual">
          <pose>0 0 -0.4 1.57 0.0 0.0</pose>
          <geometry>
            <mesh>
              <scale>0.5 0.5 0.5</scale>
              <uri>file://test/media/duck.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>

    <model name="duck2">
      <pose>2 2 1 0.5 0.5 0.5</pose>
      <link name="link">
        <inertial>
          <inertia>
            <ixx>3.92</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>3.92</iyy>
            <iyz>0</iyz>
            <izz>3.92</izz>
          </inertia>
          <mass>39</mass>
        </inertial>
        <collision name="collision">
          <pose>0 0 -0.4 1.57 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>file://test/media/duck_collider.dae</uri>
            </mesh>
          </geometry>
        </collision>

        <visual name="visual">
          <pose>0 0 -0.4 1.57 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>file://test/media/duck.dae</uri>
            </mesh>
          </geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>
