<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <scene>
      <shadows>false</shadows>
      <ambient>1 1 1 1</ambient>
    </scene>

    <physics type="ode">
      <ode>
        <solver>
          <type>world</type>
        </solver>
      </ode>
      <max_step_size>0.1</max_step_size>
      <real_time_update_rate>0</real_time_update_rate>
    </physics>

    <% for i in 0..1001 %>
      <model name="box_<%=i%>">
      <pose><%=i*0.4%> 0 0.05 0 0 0</pose>
      <link name="link">
        <kinematic>true</kinematic>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.2 .1 .1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.2 .1 .1</size>
            </box>
          </geometry>
        </visual>
        <visual name="visual_front">
          <pose>0.07 0 0.04 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>.04</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
  <% end %>
  </world>
</sdf>

