<?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>

    <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="sphere">
      <pose>0 0 2 0 0 0</pose>
      <link name="sphere_link">
        <pose>0.0 0.0 5.0 0 0 0</pose>
        <inertial>
          <inertia>
            <ixx>0.4</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.4</iyy>
            <iyz>0</iyz>
            <izz>0.4</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <visual name="sphere_visual">
          <pose>0.0 0.0 0.0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name="sphere_collision">
          <pose>0.0 0.0 0.0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </collision>
      </link>
    </model>
    <model name="plane">
      <static>1</static>
      <pose>0 0 0.0 0.0 0.0 0</pose>
      <link name="plane_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>
        </visual>
      </link>
    </model>
  </world>
</sdf>
