<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="empty">
    <physics name="phys" type="dart">
      <max_step_size>0.005</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <ode>
        <solver>
          <type>quick</type>
          <island_threads>true</island_threads>
          <thread_position_correction>true</thread_position_correction>
          <friction_model>cone_model</friction_model>
        </solver>
      </ode>
      <dart>
        <collision_detector>
          bullet
        </collision_detector>
      </dart>
    </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-contact-system"
      name="gz::sim::systems::Contact">
    </plugin>
    <plugin filename="gz-sim-imu-system.so"
        name="gz::sim::systems::Imu">
    </plugin> 
    <plugin filename="gz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
        <render_engine>ogre2</render_engine>
    </plugin>
    <scene>
      <shadows>false</shadows>
      <grid>false</grid>
      <origin_visual>false</origin_visual>
    </scene>

    <light type="directional" name="sun">
      <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="ground_plane">
      <static>true</static>
      <link name="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>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    {{cones}}

  </world>
</sdf>