<?xml version="1.0" ?>

<sdf version="1.7">
  <world name="default">

    <!-- Plugin for simulating physics -->
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>

    <!-- Plugin for handling user commands -->
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>

    <!-- Plugin for broadcasting scene updates -->
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <!-- Plugin for sensor handling -->
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>

    <!-- To add realistic gravity, do: 0.0 0.0 -9.8, otherwise do 0.0 0.0 0.0 -->
    <gravity>0.0 0.0 -9.8</gravity>

    <!-- Include a model of the Sun from an external URI -->
    <include>
      <uri>
        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
      </uri>
    </include>

    <!-- Include a model of the Ground Plane from an external URI -->
    <include>
      <uri>
        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
      </uri>
    </include>

    <!-- Include the cylinder model -->
    <!-- <include>
      <uri>model://red_cylinder</uri>
      <name>red_cylinder</name>
      <pose>0.22 0.12 0.175 0 0 0</pose>
    </include> -->

    <!-- Include the other objects -->

    <!-- <include>
      <uri>model://mustard</uri>
      <pose>0.7 0.15 0.08 0 0 0</pose>
    </include>

    <include>
      <uri>model://cheezit_big_original</uri>
      <pose>0.64 0.23 0.17 1.571 0 0</pose>
    </include>

    <include>
      <uri>model://cardboard_box</uri>
      <pose>0.65 0.60 0.3 0 0 0.5</pose>
    </include>

    <include>
      <uri>model://coke_can</uri>
      <pose>0.5 0.15 0.15 0 0 2.3</pose>
    </include> -->

    <!-- Define scene properties -->
    <scene>
      <shadows>false</shadows>
    </scene>

  </world>
</sdf>
