<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="breadcrumbs_levels">

    <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>0</real_time_factor>
    </physics>
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-user-commands-system.so"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <model name="tile_1">
      <pose>0 0 0.1 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>10 10 0.2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>10 10 0.2</size>
            </box>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.0 0.8 0.0 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
      <plugin filename="libignition-gazebo-breadcrumbs-system.so" name="ignition::gazebo::systems::Breadcrumbs">
       <max_deployments>3</max_deployments>
       <disable_physics_time>15</disable_physics_time>
       <allow_renaming>true</allow_renaming>
       <breadcrumb>
         <sdf version="1.6">
          <model name="B1">
            <pose>0 0 5 0 0 0</pose>
            <link name='body'>
              <visual name='visual'>
                <geometry>
                  <box>
                    <size>0.3 0.3 0.5</size>
                  </box>
                </geometry>
              </visual>
              <collision name='collision'>
                <geometry>
                  <box>
                    <size>0.3 0.3 0.5</size>
                  </box>
                </geometry>
              </collision>
            </link>
          </model>
        </sdf>
       </breadcrumb>
      </plugin>
    </model>

    <model name="sphere">
      <pose>0 0 2 0 0 0</pose>
      <static>true</static>
      <link name="sphere_link">
        <collision name="sphere_collision">
          <geometry>
            <sphere>
              <radius>1.0</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="sphere_visual">
          <geometry>
            <sphere>
              <radius>1.0</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
    </model>

    <plugin name="ignition::gazebo" filename="dummy">
      <performer name="perf1">
        <ref>sphere</ref>
        <geometry>
          <box>
            <size>4 4 2</size>
          </box>
        </geometry>
      </performer>
      <level name="level1">
        <pose>0 0 2.5 0 0 0</pose>
        <geometry>
          <box>
            <size>10 10 10</size>
          </box>
        </geometry>
        <buffer>2</buffer>
        <ref>tile_1</ref>
      </level>
    </plugin>
  </world>
</sdf>


