<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="empty">
    <physics type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_update_rate>100</real_time_update_rate>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre</render_engine>
    </plugin>
    <plugin filename="gz-sim-imu-system"
        name="gz::sim::systems::Imu">
    </plugin>

    <light name="sun" type="directional">
      <pose>0 0 20 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1.0</diffuse>
      <specular>0.8 0.8 0.8 1.0</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.05</linear>
        <quadratic>0.01</quadratic>
      </attenuation>
      <cast_shadows>false</cast_shadows>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1000 1000</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>50</mu>
              </ode>
            </friction>
            <bounce/>
            <contact/>
          </surface>
        </collision>
        <visual name="visual">
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1000 1000</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <pose>0 0 0 0 0 0</pose>
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
      </link>
      <pose>0 0 0 0 0 0</pose>
      <self_collide>false</self_collide>
    </model>
  </world>
</sdf>
